Robot hand system including fingertip sensor and method for controlling robot hand system

Abstract

This method for controlling a robot hand system comprises: a step in which a controller moves a robot hand including a plurality of fingers to an object; a step in which the controller determines whether a tip sensor included in the plurality of fingers has come into contact with the object; a step in which the controller controls the plurality of fingers until the gripping force of a target finger corresponding to a thumb among the plurality of fingers reaches a target force; and a step in which the controller performs a gripping operation when the gripping force of the target finger reaches the target force, wherein the step of performing the gripping operation may comprise a first gripping mode for controlling the robot hand such that the forces applied by the plurality of fingers in contact with the object are in equilibrium, or a second gripping mode for controlling the robot hand such that the sum of torques applied by the plurality of fingers to grip the object is equal to or less than a threshold torque.

Description

Robot hand system including a fingertip sensor and a method for controlling the robot hand system

[0001] The present disclosure relates to a robot hand system including a fingertip sensor and a method for controlling the robot hand system.

[0002] Typical multi-axis force / torque sensors utilize strain gauge technology. Strain gauges convert changes in force applied to the sensor (strain) into changes in electrical resistance, and measure this change in electrical resistance to determine the applied force. However, these strain gauge-based sensors require manual bonding of the strain gauge to the sensor, making them difficult to miniaturize and time-consuming to manufacture. Furthermore, strain gauges require a separate amplifier installed externally to collect the electrical signal, making them difficult to apply to the fingertips of robotic hands, which often face tight installation and space constraints.

[0003] The above-described information disclosed in the background technology of this invention is only intended to improve understanding of the background of the present invention, and therefore may include information that does not constitute prior art.

[0004] The robot hand system and robot hand system control method according to embodiments of the present disclosure can solve the above-described problems and provide a control method for more stably grasping an object using a fingertip sensor applicable to the fingertip of the robot.

[0005] However, the technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0006] A method for controlling a robot hand system according to embodiments of the present disclosure includes a step of a controller moving a robot hand including a plurality of fingers to an object, a step of the controller determining whether a tip sensor included in the plurality of fingers has come into contact with the object, a step of the controller controlling the plurality of fingers until a gripping force of a target finger corresponding to a thumb among the plurality of fingers reaches a target force, and a step of the controller performing a gripping operation when the gripping force of the target finger reaches the target force, wherein the step of performing the gripping operation may include a first gripping mode for controlling the robot hand so that a force with which the plurality of fingers contact the object is balanced, or a second gripping mode for controlling the robot hand so that a sum of torques with which the plurality of fingers grip the object is less than or equal to a threshold torque.

[0007] The controller can, in the first gripping mode, move the robot hand so that the target finger and the remaining fingers are on different sides with the object between them, and control the position of the target finger so that the gripping forces of the target finger and the remaining fingers are balanced.

[0008] The controller can, in the second gripping mode, lift the object while the plurality of fingers are gripping it and determine whether the torque sum of the plurality of fingers satisfies the threshold torque.

[0009] The controller may measure the center of gravity of the object based on the force and torque detected by the tip sensor included in the plurality of fingers, and move the plurality of fingers toward the center of gravity of the object, if the torque sum of the plurality of fingers does not satisfy the threshold torque.

[0010] The above controller can move the plurality of fingers so that the centers of the gripping points of the plurality of fingers in contact with the object correspond to the center of gravity of the object.

[0011] A robot hand system according to embodiments of the present disclosure includes a robot hand including a plurality of fingers and a controller for controlling a gripping motion of the robot hand, wherein the plurality of fingers include tips for contacting an object and tip sensors included in the tips for measuring a force and a torque with which the fingers grip the object, and the controller controls the plurality of fingers until a gripping force of a target finger corresponding to a thumb among the plurality of fingers reaches a target force, and performs a gripping motion when the gripping force of the target finger reaches the target force, and the controller can control the robot hand in a first gripping mode for controlling the robot hand so that a force with which the plurality of fingers contact the object is balanced, or in a second gripping mode for controlling the robot hand so that a sum of torques with which the plurality of fingers grip the object is less than or equal to a threshold torque.

[0012] The controller can, in the first gripping mode, move the robot hand so that the target finger and the remaining fingers are on different sides with the object between them, and control the position of the target finger so that the gripping forces of the target finger and the remaining fingers are balanced.

[0013] The controller can, in the second gripping mode, lift the object while the plurality of fingers are gripping it and determine whether the torque sum of the plurality of fingers satisfies the threshold torque.

[0014] The controller may measure the center of gravity of the object based on the force and torque detected by the tip sensor included in the plurality of fingers, and move the plurality of fingers toward the center of gravity of the object, if the torque sum of the plurality of fingers does not satisfy the threshold torque.

[0015] The above controller can move the plurality of fingers so that the centers of the gripping points of the plurality of fingers in contact with the object correspond to the center of gravity of the object.

[0016] The robot hand system and the control method of the robot hand system according to the embodiments of the present disclosure can grip an object more stably through gripping force control or gripping torque control.

[0017] However, the effects that can be obtained through the present invention are not limited to the effects described above, and other technical effects that are not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0018] The following drawings, attached to this specification, illustrate embodiments of the present invention and, together with the description of the invention described below, serve to facilitate understanding of the technical concepts of the present invention. The present invention is not limited to the matters described in the drawings.

[0019] FIG. 1 illustrates a robot hand system including a robot hand according to embodiments of the present disclosure.

[0020] FIG. 2 illustrates another robotic hand system according to embodiments of the present disclosure.

[0021] FIG. 3 illustrates a robot hand according to embodiments of the present disclosure.

[0022] FIG. 4 schematically illustrates a robot hand and controller according to embodiments of the present disclosure.

[0023] FIG. 5 illustrates a portion of a finger according to embodiments of the present disclosure.

[0024] Figure 6 shows a cross-section of Figure 5.

[0025] FIG. 7 illustrates an exploded perspective view of a finger tip according to embodiments of the present disclosure.

[0026] Figure 8 shows a cross-section of a tip according to embodiments of the present disclosure.

[0027] FIG. 9 illustrates a tip sensor according to embodiments of the present disclosure.

[0028] FIG. 10 illustrates an exploded perspective view of a tip sensor according to embodiments of the present disclosure.

[0029] FIG. 11 illustrates a cross-section of a tip sensor according to embodiments of the present disclosure.

[0030] FIG. 12 shows an exploded perspective view of a finger tip according to embodiments of the present disclosure.

[0031] Figures 13-18 illustrate a motion of a robot hand grasping an object according to embodiments of the present disclosure.

[0032] Figures 19 and 20 illustrate a robot hand control method according to embodiments of the present disclosure.

[0033] A method for controlling a robot hand system according to embodiments of the present disclosure includes a step of a controller moving a robot hand including a plurality of fingers to an object, a step of the controller determining whether a tip sensor included in the plurality of fingers has come into contact with the object, a step of the controller controlling the plurality of fingers until a gripping force of a target finger corresponding to a thumb among the plurality of fingers reaches a target force, and a step of the controller performing a gripping operation when the gripping force of the target finger reaches the target force, wherein the step of performing the gripping operation may include a first gripping mode for controlling the robot hand so that a force with which the plurality of fingers contact the object is balanced, or a second gripping mode for controlling the robot hand so that a sum of torques with which the plurality of fingers grip the object is less than or equal to a threshold torque.

[0034] Embodiments of the present disclosure can be understood by reference to the detailed description and drawings. The described embodiments may have various modifications and may be implemented in other forms, and are not limited to the embodiments described herein. Furthermore, the individual features of the various embodiments of the present disclosure may be combined in part or in whole. Each embodiment may be implemented independently or in conjunction with each other. The described embodiments are provided as examples so that the present disclosure may be thorough and complete, and are intended to fully convey the spirit of the present disclosure to those skilled in the art. The present disclosure is capable of all modifications, equivalents, and technical substitutions within the technical scope. Accordingly, processes, elements, and techniques that are not necessary for a person skilled in the art to fully understand the embodiments of the present disclosure may not be described.

[0035] Unless otherwise specified, throughout the attached drawings and specifications, the same reference numerals, letters, or combinations thereof indicate the same components, and thus, redundant descriptions are omitted. Furthermore, for the sake of clarity in explaining the present disclosure, parts irrelevant to the description or parts unrelated to the description have been omitted.

[0036] The relative sizes of elements, layers, and areas in the drawings may be exaggerated for clarity. The use of hatching and / or shading in the attached drawings is generally provided to clarify boundaries between adjacent elements. Therefore, the presence or absence of hatching or shading does not imply a desirable form or requirement for any particular material, material property, dimension, proportion, commonality between drawing elements, and / or any other characteristic, property, or attribute of the element unless otherwise specified.

[0037] Various embodiments may be described herein with reference to cross-sectional examples that are schematic illustrations of embodiments and / or intermediate structures. For example, the shapes of the drawings may vary as a result of manufacturing techniques and / or tolerances. Furthermore, any specific structural or functional descriptions disclosed herein are intended solely to illustrate exemplary embodiments. Therefore, the embodiments disclosed herein should not be construed as being limited to the shapes of the illustrated regions, and may, for example, include variations in shape due to manufacturing processes.

[0038] The areas depicted in the drawings are schematic and are not intended to be limiting or illustrative of the actual shape of the device area. Furthermore, as those skilled in the art will recognize, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure.

[0039] Numerous specific details are set forth in the specification to provide a thorough understanding of various embodiments. However, various embodiments may be practiced without these specific details or with one or more of the specific details. Alternatively, well-known structures and devices may be shown in block diagram form to avoid unnecessarily obscuring the various embodiments.

[0040] To facilitate discussion herein, spatially relative terms such as "below," "above," "lower," "top," and the like may be used to describe the relationship of one element or feature to another, as illustrated in the drawings. Spatially relative terms are intended to encompass various orientations of the device in use or operation in addition to the orientations depicted in the drawings. For example, if the device in the drawings were flipped over, another element or feature described as "below" or "lower" would face "above" the other element or feature. Thus, as exemplary terms, "below" and "lower" can encompass both the above and below orientations. The device can be oriented in other directions (e.g., rotated 90 degrees or in other directions), and the spatially relative descriptions used herein should be interpreted accordingly. Similarly, if a first part is described as being disposed "above" a second part, this means that the first part is disposed above or below the second part.

[0041] Also, the expression "in plan view" means when an object part is viewed from above, and the expression "in schematic cross-section" means when a schematic cross-section is taken by cutting the object part vertically. The term "in side view" means that the first object can be above, below, or to the side of the second object, and vice versa. Additionally, the term "overlapping" or "superimposing" can include layer, laminate, plane, extension, covering, or partially covering, or any other suitable term that a person of ordinary skill in the art would understand and understand. The expression "does not overlap" can include meanings such as "away from" or "spaced from", and any other suitable equivalents that a person of ordinary skill in the art would recognize and understand. The terms "plane" and "surface" can mean that a first object can directly or indirectly face a second object. When a third object is between a first object and a second object, the first object and the second object face each other, but can be understood as indirectly opposing each other.

[0042] When an element, layer, region, or component (hereinafter also referred to as an “element, etc.”) is referred to as being “formed,” “connected,” or “coupled” to another element, etc., it can be formed, connected, or coupled directly or indirectly to another element, layer, region, or component. In addition, direct or indirect coupling or connection of the element, etc., and integral or non-integral coupling or connection can be collectively referred to so that one or more elements, etc. can be present. For example, when an element, etc. is referred to as being “electrically connected” or “electrically coupled” to another element, etc., it can be directly electrically connected or coupled to the other element, etc., or other elements, etc. can be present. However, “direct connection” or “direct coupling” means that one element, etc. directly connects or couples to another element, etc., without an intermediate element, etc., or is present in another element, etc. In addition, in the present specification, when a part of a layer, film, region, plate, etc. is formed on another part, the forming direction is not limited to the upper direction, and includes that the part is formed on the side or the lower side. Conversely, when a part of a layer, film, region, plate, etc. is formed "beneath" another part, this includes not only cases where the part is "directly beneath" the other part, but also cases where there is another part between the part and the other part. Meanwhile, other expressions that describe the relationship between components, such as "between," "directly between," or "adjacent to," and "directly adjacent to," can be interpreted similarly. Furthermore, when an element or layer is referred to as being "between" two elements or layers, it can be the only element between the two elements or layers, or there can be other elements between them.

[0043] For the purposes of this specification, phrases such as "at least one or more" or "either" do not limit the order of the individual elements. For example, phrases such as "at least one of X, Y, and Z," "at least one of X, Y, or Z," or "at least one selected from the group consisting of X, Y, and Z" can include X alone, Y alone, Z alone, or any combination of two or more of X, Y, and Z. Similarly, phrases such as "at least one of A and B" and "at least one of A or B" can include A, B, or A and B. As used herein, "or" generally means "and / or," and the terms "and / or" include any combination of one or more associated list items. For example, phrases such as "A and / or B" can include A, B, or A and B.

[0044] Although the terms "first," "second," "third," and the like may be used herein to describe various elements, components, regions, layers, and / or cross-sections, such elements, components, regions, layers, and / or cross-sections are not limited by such terms. These terms are used to distinguish one element, component, region, layer, or cross-section from another element, component, region, layer, or cross-section. Thus, a first element, component, region, layer, or cross-section described below may be referred to as a second element, component, region, layer, or cross-section without departing from the spirit and scope of the present invention. Describing an element as a "first" element does not require or imply the presence of a second element or other elements. The terms "first," "second," and the like may also be used herein to distinguish different categories or sets of elements. For clarity, the terms "first," "second," and the like may each represent a "first category (or first set)," a "second category (or second set)," etc.

[0045] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to be limiting of the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms, and the plural forms are intended to include the singular forms as well, unless the context clearly dictates otherwise. The terms "comprise," "include," and "have," when used herein, are meant to specify the presence of specified features, integers, and steps. These expressions do not exclude the presence or addition of one or more other functions, steps, operations, components, and / or groups thereof.

[0046] If one or more embodiments can be implemented differently, a particular process sequence may be performed differently from the order described. For example, two processes described in succession may be performed substantially simultaneously or in the reverse order from the described order.

[0047] The terms "substantially," "about," "approximately," and similar terms are used as terms of approximation, not degree, and are intended to describe the inherent variation in a measured or calculated value that would be discernible to a person of ordinary skill in the art. As used herein, "about" or "approximately" includes the stated value and means within an acceptable range of variation (e.g., due to limitations of the measurement system) for a particular value determined by a person of ordinary skill in the art, taking into account the measurement and any associated errors. For example, "about" can mean within one or more standard deviations, or within ±30%, ±20%, ±10%, or ±5% of the stated value.

[0048] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries, for example, should be interpreted as having a meaning consistent with their meaning in the relevant art and / or the context of this specification, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0049] FIG. 1 shows a robot hand system (1) including a robot hand (10), FIG. 2 shows another robot hand system (1), FIG. 3 shows a robot hand (10), FIG. 4 schematically shows a robot hand (10) and a controller (20), FIG. 5 shows a part of a finger (200), FIG. 6 shows a cross-section of FIG. 5, FIG. 7 shows an exploded perspective view of a tip (223) of a finger (200), FIG. 8 shows a cross-section of the tip (223), FIG. 9 shows a sensor (400), FIG. 10 shows an exploded perspective view of the sensor (400), FIG. 11 shows a cross-section of the sensor (400), FIG. 12 shows an exploded perspective view of a tip (223) of a finger (200), and FIGS. 13 to 18 show a motion of the robot hand (10) grasping an object.

[0050] A robot hand system (1) can perform various work operations such as grasping and transporting an object or polishing, grinding, assembling, and welding the object. The robot hand system (1) may include a robot hand (10), a controller (20), and a platform (30). The robot hand (10) is connected to the controller (20) and the platform (30), and can receive a control signal from the controller (20) to move toward an object and perform work operations. For example, as shown in Fig. 1, the robot hand (10) can be mounted at the end of the platform (30). When the controller (20) sends a grasping signal to the robot hand (10) and the platform (30), the platform (30) moves the robot hand (10) toward the object, and the robot hand (10) can grasp the object.

[0051] Alternatively, as illustrated in FIG. 2, the robot hand system (1) may include a movable robot as a platform (30) on which a robot hand (10) is mounted. The robot hand (10) may be mounted on the end of an arm of the walking robot. Although the drawing illustrates a case where the platform (30) is a bipedal walking robot, the platform (30) may also be a quadruped walking robot. Alternatively, the platform (30) may be in the form of a drivable cart, such as an AGV. The robot hand (10) mounted on the platform (30) may be controlled by being connected to a controller (20) via wired or wireless means.

[0052] The robot hand (10) may include a housing (100), a finger (200), and a driving unit (300).

[0053] The housing (100) can accommodate and / or support other components of the robot hand (10) (e.g., the finger (200) and the driving unit (300)). The housing (100) can protect the finger (200) and the driving unit (300) from external impacts or foreign substances. For example, as shown in FIG. 3, the housing (100) can surround the driving unit (300) and can surround the connection between the driving unit (300) and the finger (200) or at least a portion of the finger (200). A cable connecting the driving unit (300) to the controller (20) or the power source can be drawn out through the housing (100) and connected to the controller (20) or the power source.

[0054] The housing (100) may correspond to the palm, back of the hand, and / or wrist of the robot hand (10). For example, a surface of the housing (100) in the direction in which the plurality of fingers (200) are bent (e.g., a first surface of the housing (100) in the front of FIG. 3) may correspond to the palm of the robot hand (10). And a surface of the housing (100) in the direction in which the plurality of fingers (200) are spread (e.g., a second surface) may correspond to the back of the hand of the robot hand (10).

[0055] A finger (200) is a component that directly performs a work action, such as grasping an object, and may include a plurality of fingers (200). For example, a robot hand (10) may include a structure similar to a human hand and may include five fingers (200) corresponding to five fingers of a human. For example, as shown in FIG. 3, the fingers (200) include a first finger (201), a second finger (202), a third finger (203), a fourth finger (204), and a fifth finger (205), which may correspond to a thumb, an index finger, a middle finger, a ring finger, and a ring finger, respectively.

[0056] Alternatively, the finger (200) may include a plurality of fingers (200) that move in different directions. For example, some of the plurality of fingers (200) may bend from top to bottom toward the first surface of the housing (100) (or a surface corresponding to the palm of the housing (100)), and other some may bend from bottom to top toward the first surface of the housing (100). For example, among the plurality of fingers (200), all fingers (200) except one may move in the same direction, and the remaining finger (200) may move in a different direction. For example, the second finger (202), the third finger (203), the fourth finger (204), and the fifth finger (205) may bend from top to bottom, and the first finger (201) may bend from bottom to top. Therefore, at least some of the plurality of fingers (200) may move in different directions, thereby more stably gripping an object.

[0057] Alternatively, the finger (200) may include a plurality of fingers (200) extending from different portions of the housing (100). For example, as shown in FIG. 3, some of the plurality of fingers (200) may extend from the upper portion of the housing (100) in the height direction of the housing (100), and other some may extend from the first surface of the housing (100) in a direction intersecting the height direction of the housing (100). For example, among the plurality of fingers (200), all fingers (200) except one may extend from the upper portion of the housing (100) in the height direction of the housing (100), and the remaining one finger (200) may extend from the first surface of the housing (100). For example, the second finger (202), the third finger (203), the fourth finger (204), and the fifth finger (205) may extend from the upper portion of the housing (100) in the longitudinal direction of the housing (100), and the first finger (201) may extend from the first surface of the housing (100) in a direction intersecting the height direction of the housing (100).

[0058] In this specification, the “finger (200) corresponding to the thumb” may mean the first finger (201) corresponding to the thumb when the finger (200) includes five fingers (200) corresponding to five fingers of a human. Or, when the finger (200) includes a plurality of fingers (200) that move in different directions, the “finger (200) corresponding to the thumb” may mean any one finger (200) that moves in a different direction from the remaining fingers (200). Or, when the finger (200) includes a plurality of fingers (200) that extend from different positions of the housing (100), the “finger (200) corresponding to the thumb” may mean any one finger (200) that extends from a different portion of the housing (100) from the remaining fingers (200).

[0059] Each finger (200) is connected to a driving unit (300), and when the driving unit (300) operates, it can grasp an object by bending or extending around the joint. For example, each finger (200) includes one or more joints, and can be individually connected to the driving unit (300) to operate at different torques.

[0060] The finger (200) may include a support frame (210), a joint (220), and a cylinder block (230).

[0061] The support frame (210) can accommodate and / or support other components of the finger (200) (e.g., the joint (220) and the cylinder block (230)). For example, as shown in FIG. 5, the support frame (210) supports the joint (220) and at least a portion of the cylinder block (230) and can be located on the outside of the finger (200) (e.g., the left side of FIG. 6). For example, as shown in FIG. 5, the first cylinder block (231) and the second cylinder block (232) of the cylinder block (230) can be inserted into the support frame (210). For example, two first cylinder blocks (231) and a second cylinder block (232) are inserted into the support frame (210), and each block included in the two first cylinder blocks (231) and the second cylinder block (232) can slide relative to the support frame (210) and be raised and lowered in the height direction of the support frame (210). Accordingly, the finger (200) can be bent or extended by the operation of the first cylinder block (231) and the second cylinder block (232).

[0062] For example, the support frame (210) may include a support (211), a support plate (212), and a lifting area (213). As shown in FIG. 6, the support (211) may support other components of the support frame (210) (e.g., the support plate (212) and the lifting area (213)) and may define a lifting area (213) therebetween with the support plate (212). The support (211) may have a finger (200) formed on the outside, and may be connected to the support plate (212) on one side and to a joint (220) on the other side. The support plate (212) extending vertically with respect to the support (211) may have a cylinder block (230) inserted therein, and blocks of the cylinder block (230) may be lifted in the lifting area (213) formed between the upper surface of the support plate (212) and the inner surface of the support (211). The lifting area (213) is not blocked by any other components other than the support (211) and the support plate (212), so that it does not interfere with other components of the finger (200) when the cylinder block (230) is raised or lowered or when the joint (220) is bent or extended.

[0063] The joint (220) is connected to the cylinder block (230), and when the cylinder block (230) is moved by the driving unit (300), it can be bent or extended to directly grip an object or perform a work action. The joint (220) may correspond to a finger joint of the robot hand (10). For example, the joint (220) may be supported and connected to the support frame (210) and the cylinder block (230).

[0064] The joint (220) may include a cover (221), a link (222) and a tip (223).

[0065] The cover (221) can wrap at least a portion of the link (222) and move together with the link (222). For example, the cover (221) can reduce the area where the link (222) directly interferes with the object or the external environment when the robot hand (10) grasps the object, thereby preventing damage to the link (222) and preventing external foreign substances from entering the link (222). For example, as shown in FIG. 5, the cover (221) is an outer shell that wraps the link (222) and can be segmented into a plurality of pieces so that it can move together according to the movement of the link (222). For example, the cover (221) can be segmented into the same number of finger joints (e.g., 2 or 3) included in the finger (200). The cover (221) can include a deformable elastic material (e.g., rubber, silicone, etc.).

[0066] The link (222) is connected to the cylinder block (230), and can grip an object while translating and / or rotating when the cylinder block (230) is moved by the driving unit (300). For example, the link (222) may be at least partially within the cover (221) and between the tip (223) and the cylinder block (230). The link (222) may correspond to the joint of the finger (200).

[0067] Link (222) may include a first link (2221), a second link (2222), and a third link (2223).

[0068] The first link (2221) can be connected to the first cylinder block (231) and the third link (2223). For example, the first link (2221) may be provided in the same number (e.g., two) as the first cylinder block (231), and the lower end may be connected to each first cylinder block (231). In addition, the upper end of the first link (2221) may be connected to any one of a plurality of third links (2223). When the first cylinder block (231) is raised and lowered, the first link (2221) may move and / or rotate together to move the third link (2223).

[0069] The second link (2222) can be connected to the second cylinder block (232) and the third link (2223). For example, the second link (2222) may be provided in the same number (e.g., 1) as the second cylinder block (232), and the lower end may be connected to the second cylinder block (232). In addition, the upper end of the second link (2222) may be connected to any one of a plurality of third links (2223). When the second cylinder block (232) is raised and lowered, the second link (2222) may move and / or rotate together to move the third link (2223).

[0070] The third link (2223) is connected to the first link (2221), the second link (2222) and the tip (223), and can implement the motion of the finger (200) by moving by the first link (2221) and the second link (2222). For example, as shown in FIG. 6, the third link (2223) is within the cover (221) and can include a plurality of third links (2223). The plurality of third links (2223) are rotatably connected to each other, and can implement the motion of bending or extending the finger (200) similar to a human finger.

[0071] The tip (223) is the terminal portion of the finger (200) and may be a portion that directly contacts an object. For example, the tip (223) corresponds to the end joint of a finger, and can detect the gripping state of the robot hand (10) by measuring the force and torque applied when the robot hand (10) grips an object and comes into contact with the object. For example, as shown in FIG. 6, the tip (223) is located at the most distal portion in the longitudinal direction of the finger (200) and can be rotatably connected to the link (222). The tip (223) includes one or more tip sensors, and can measure the force and torque applied to the tip (223) when the finger (200) grips an object and transmit the measured force and torque to the controller (20).

[0072] The tip (223) may include a tip base (2231), a tip plate (2232), a tip cover (2233), and a tip sensor (400).

[0073] The tip base (2231) supports other components of the tip (223) (e.g., a tip plate (2232), a tip cover (2233), and a tip sensor (400)) and can be connected to the link (222). When the link (222) moves, the tip base (2231) moves, and the tip plate (2232), the tip cover (2233), and the tip sensor (400) supported on the tip base (2231) can also move together. For example, as shown in FIG. 7, the tip base (2231) has a bent “L” shape, and the lower part is connected to the link (222), and the tip sensor (400) can be mounted on the inner surface. The tip base (2231) can include a rigid and strong material. The tip base (2231) can support the tip sensor (400) when the tip (223) comes into contact with an object, so as to accurately measure the force and torque generated when the tip sensor (400) grips the object, and prevent the tip sensor (400) from being dislodged from a designated position. For example, a plurality of fixing pins (P) can be inserted into the tip base (2231) and the tip sensor (400) to fix the tip sensor (400) to the tip base (2231).

[0074] The tip plate (2232) is located between the tip cover (2233) and the tip sensor (400), and can surround at least a portion of the tip sensor (400), including the upper surface. For example, as shown in FIGS. 7 and 8, the tip plate (2232) can contact the inner surface of the tip cover (2233) and surround the upper surface and a portion of the side surface of the tip sensor (400). The tip plate (2232) can have a shape and size corresponding to the upper surface of the tip sensor (400). When the tip cover (2233) comes into contact with an object, the tip plate (2232) can transmit force to the displacement portion (411) of the tip sensor (400), thereby increasing the sensitivity of the tip sensor (400). In addition, the tip plate (2232) can protect the tip sensor (400) from collision with an object or the surrounding environment.

[0075] The tip cover (2233) is detachable from the tip base (2231) and can cover the tip sensor (400) and the tip plate (2232). For example, the tip cover (2233) may include a deformable material such as rubber. When the tip cover (2233) comes into contact with an object and is pressurized, force is transmitted to the tip sensor (400) via the tip plate (2232), and the tip sensor (400) can detect this.

[0076] The tip sensor (400) is included in the tip (223) and can detect the force and torque generated when the tip (223) presses an object and transmit them to the controller (20). The controller (20) can determine whether the finger (200) grips the object with appropriate force and torque based on the force and torque detected by the tip sensor (400) and control the operation of the robot hand (10). For example, the tip sensor (400) may be a capacitive sensor as a multi-axis force / torque sensor. Therefore, unlike a strain gauge sensor, the capacitive tip sensor (400) can be significantly reduced in size and weight and can be included inside the tip (223) of the robot hand (10). The tip sensor (400) may have a lower surface (e.g., a surface that is relatively far from the deformable body (411) in the height direction of the tip sensor (400)) connected to the inner surface of the tip base (2231), and an upper surface (e.g., a surface that is relatively close to the deformable body (411) in the height direction of the tip sensor (400)) facing the tip cover (2233). The tip sensor (400) may be connected to the base (2231) via a fixing pin (P).

[0077] The tip sensor (400) may include a body (410), a substrate (420), and a lower cover (430).

[0078] The body (410) can accommodate and / or support other components of the tip sensor (400) (e.g., substrate (420), lower cover (430)). For example, the body (410) may have a hollow cylindrical shape, have a substrate (420) therein, and have a lower cover (430) connected to the lower portion thereof. The body (410) forms an electrostatic capacitance between the body (410) and the substrate (420), and a first potential can be applied thereto. When the substrate (420) is displaced relative to the body (410), a change occurs in the electrostatic capacitance formed between the substrate (420) and the body (410), and the tip sensor (400) can measure force and torque based on this. For example, at least a first potential is applied to the inner surface (413) of the body (410), and the inner surface (413) facing the sensing electrode (421) of the substrate (420) can form a sensing area (4131) (see FIG. 11). The first potential applied to the body (410) can have an opposite sign to the second potential applied to the substrate (420). The deformable portion of the body (410) can be connected to the substrate (420). Therefore, when a force is applied to the body (410), the deformable portion of the body (410) moves, and the substrate (420) can also move.

[0079] The body (410) may include a displacement portion (411) and a connecting portion (412).

[0080] As shown in Fig. 9, the displacement portion (411) can be displaceably connected to a fixed portion of the body (410) via a connecting portion (412). For example, the displacement portion (411) can be coaxial with the center of the body (410) and can be circular. The connecting portions (412) have a T shape and are formed in multiple numbers (e.g., four) along the periphery of the circular displacement portion (411), and can connect the outer surface of the displacement portion (411) and the fixed portion of the body (410) to each other. The displacement portion (411) is connected to the substrate (420), and therefore, when force is applied to the tip cover (2233), the displacement portion (411) can move and the substrate (420) can also move together.

[0081] The substrate (420) is connected to the body (410) and may include a communication module that calculates the force and torque applied to the tip sensor (400) and can communicate with an external device, etc. For example, the substrate (420) may be inside the body (410) and may be connected to the displacement unit (411). The substrate (420) may include a plurality of sensing electrodes (421). For example, as shown in FIG. 10, the substrate (420) may have a cross shape in which four protrusions each extend toward the inner surface of the body (410), and the sensing electrodes (421) may be formed on the upper and side surfaces of the protrusions of the substrate (420), respectively. For example, two sensing electrodes (421) may be formed for each protrusion, and the sensing electrodes (421) formed on one protrusion may be spaced apart from each other. For example, the sensing electrodes (421) may include eight sensing electrodes (421). A second potential is applied to the sensing electrode (421), and capacitance can be formed with the body (410). When the displacement unit (411) moves, the substrate (420) also moves, causing a change in the distance between the inner surface (413) and the sensing electrode (421), and the capacitance can change.

[0082] The sensor (400) may further include a lead (440).

[0083] For example, as shown in FIG. 12, the lead (440) can be connected to the displacement portion (411). The lead (440) is located on the body (410) and can transmit the force applied from the tip cover (2233) to the displacement portion (411). For example, the lead (440) can have a cross shape to correspond to the displacement portion (411) and the plurality of connecting portions (412). The lead (440) can have a size and shape corresponding to the displacement portion (411) and the connecting portion (412) and can cover them. The lead (440) can increase the sensitivity of the tip sensor (400) by allowing the force or torque applied to the tip cover (2233) to be transmitted to the displacement portion (411) and the connecting portion (412).

[0084] One or more cylinder blocks (230) may be included in a finger (200) and may be connected to a driving unit (300) and a joint (220). For example, as shown in FIGS. 5 and 6, three cylinder blocks (230) may be included in one finger (200), and the lower end may be connected to the driving unit (300) and the upper end may be connected to the joint (220). The cylinder blocks (230) may be operated by the driving unit (300) to move the joint (220), thereby implementing a gripping motion of the robot hand (10). However, the number of cylinder blocks (230) may vary depending on the size, weight, gripping force, etc. of the robot hand (10), or each finger (200) may include a different number of cylinder blocks (230). The cylinder block (230) may include a cylinder that extends in one direction (e.g., in the longitudinal direction of the finger (200)) and a block that moves up and down along the longitudinal direction of the cylinder. For example, the cylinder block (230) may be connected to a support frame (210). Each cylinder block (230) may move up and down while being inserted into a support plate (212). The blocks included in the cylinder block (230) may move the joint (220) while moving up and down within the lifting area.

[0085] The cylinder block (230) may include a first cylinder block (231) and a second cylinder block (232).

[0086] For example, as shown in FIGS. 5 and 6, a pair of first cylinder blocks (231) are provided on the inner side of the finger (200) among the plurality of cylinder blocks (230) (for example, the right side of FIG. 6), and each first cylinder block (231) can be connected to a first link (2221). A single second cylinder block (232) is provided on the outer side of the finger (200) among the plurality of cylinder blocks (230) (for example, the left side of FIG. 6), and can be connected to a second link (2222). The second cylinder block (232) can be located between two first cylinder blocks (231) in the width direction of the finger (200) (for example, the front-back direction of FIG. 6). The first cylinder block (231) and the second cylinder block (232) may each include a cylinder inserted into a support plate (212) and a block that moves up and down along the cylinder by a driving unit (300). Each block may be slidably connected to a support (211).

[0087] The driving unit (300) can receive instructions from the controller (20) and provide power to implement a gripping motion of the robot hand (10). For example, the driving unit (300) is an electric motor and can be connected to a cylinder block (230). The driving unit (300) is individually connected to a plurality of fingers (200) included in the robot hand (10) and can independently control each finger (200). For example, the driving unit (300) can independently and differently control the displacement, acceleration, etc. of the first finger (201), the second finger (202), the third finger (203), the fourth finger (204), and the fifth finger (205).

[0088] For example, as shown in FIG. 4, the robot hand (10) may further include an encoder (500). The encoder (500) may be connected to a rotational shaft of the driving unit (300) and may measure the state of the driving unit (300) (e.g., rotational speed, rotational direction, angular displacement, etc.) and transmit it to the controller (20). The encoder (500) may be included in the driving unit (300), which is an electric motor, or may be connected to the driving unit (300).

[0089] The controller (20) is connected to the robot hand (10) and the platform (30) by wire or wirelessly, and can control the robot hand (10) and the platform (30) to cause the robot hand system (1) to grip an object or perform work operations such as polishing, grinding, welding, or assembling the object. For example, the controller (20) can send a movement signal to the platform (30) to move the robot hand (10) toward the object or the robot hand (10) gripping the object to a designated location. The controller (20) can move the platform (30) based on object information detected by a detection sensor (31) included in the platform (30). Alternatively, the controller (20) can send a work signal to the robot hand (10) to cause the robot hand (10) to grip or release the object. The controller (20) can control the position, force, torque, etc. of each finger (200).

[0090] For example, the controller (20) can receive data on the force and torque for gripping an object from the robot hand (10) and data of the drive unit (300), and control the drive unit (300) of the robot hand (10) based on this. For example, when the robot hand (10) grips an object and the tip (223) comes into contact with the object, the tip sensor (400) can transmit data on the force and torque for gripping the object to the controller (20). In addition, the encoder (500) can transmit data of the drive unit (300) (e.g., motor angular displacement) to the controller (20). Based on the received data, the controller (20) can calculate whether the finger (200) has contacted the object, the magnitude and direction of the force and torque that the finger (200) exerts on the object, the weight of the object, the position of the finger (200), the direction and size of the center of gravity of the object, etc. Additionally, the controller (20) can control the robot hand (10) by transmitting the grip mode, target grip force, and critical torque to the driving unit (300).

[0091] The controller (20) can control the robot hand (10) in different gripping modes.

[0092] For example, the controller (20) can control the force with which the robot hand (10) grips an object to a balanced state (e.g., a first gripping mode, gripping force control mode) or control the torque with which the robot hand (10) grips an object (e.g., a second gripping mode, gripping torque control mode) so that the robot hand (10) can stably grip an object.

[0093] The controller (20) may utilize a direct circuit structure that executes each control function through one or more microprocessors or other control devices such as memory, processors, logic circuits, look-up tables, etc. The controller (20) may be implemented as a part of a module, program, or code that includes one or more executable instructions for executing a specific logic function. The controller (20) may include or be implemented by a processor such as a central processing unit that executes each function or a microprocessor, etc. The controller (00) is a communication device that can transmit and receive data to and from external devices, etc., and may include one or more combinations of a digital modem, an RF modem, an antenna circuit, a Wi-Fi chip, and related software and / or firmware. For example, the controller (20) may be implemented in a user terminal such as a desktop, laptop, tablet PC, smartphone, or a server, etc.

[0094] The controller (20) may include an operation unit (21), a memory unit (23), and an input unit (25).

[0095] The calculation unit (21) can perform calculations necessary to control the robot hand (10) and the platform (30). For example, the calculation unit (21) can control the position, acceleration, etc. of the finger (200) by exchanging data with the tip sensor (400), the driving unit (300), and the encoder (500) included in the finger (200). The calculation unit (21) can determine whether the force with which the finger (200) grips the object (O) has reached the target force, whether force balance has been reached, or whether the torque sum satisfies the critical torque. In addition, the calculation unit (21) can calculate the center of gravity of the object (O) based on the force and torque with which the finger (200) grips the object (O).

[0096] The memory unit (23) can store in advance information required for the controller (20) to control the robot hand (10) and the platform (30), or can store information detected by the robot hand (10) and the platform (30). For example, the memory unit (23) can store information on the force and torque detected by the tip sensor (400), the position of the object (O) detected by the detection sensor (31), the target finger (200) and the gripping force of the finger (200) according to the control mode, etc.

[0097] The input unit (25) is a device for a user to input instructions to the controller (20), and may include various types of input devices such as a touch panel, keyboard, mouse, touch screen, scanner, microphone, etc. The user can directly control the robot hand system (1) by inputting instructions to the input unit (25).

[0098] The platform (30) supports the robot hand (10) and can move the robot hand (10) to a desired position by receiving instructions from the controller (20). For example, the platform (30) may be a platform (30) including a multi-axis robot arm. The platform (30) is connected to the controller (20) with or without wires and can receive signals from the controller (20) to move the robot hand (10) mounted at the end toward an object or move the robot hand (10) that has grasped the object to another position. For example, the platform (30) may include one or more detection sensors (31) for detecting an object. For example, as shown in FIG. 2, one or more detection sensors (31) are positioned adjacent to the end of the platform (30) on which the robot hand (10) is mounted, and can detect the shape and size of the object, the distance between the object or the area for placing the object and the robot hand (10), the material or type of the object, etc., and transmit the same to the controller (20). For example, the detection sensor (31) may include a vision sensor, an ultrasonic sensor, a laser sensor, an electromagnetic sensor, a ToF, a lidar, etc.

[0099] The following describes a method for controlling a robot hand system (1) or a robot hand (10) with reference to FIGS. 1 to 20.

[0100] For example, a control method of a robot hand system (1) includes a step in which a controller (20) moves a robot hand (10) including a plurality of fingers (200) to an object (O), a step in which the controller (20) determines whether a tip sensor (400) included in the plurality of fingers (200) has come into contact with the object (O), a step in which the controller (20) controls the plurality of fingers (200) until the gripping force of a target finger (201) corresponding to a thumb among the plurality of fingers (200) reaches a target force, and a step in which the controller (20) performs a gripping operation when the gripping force of the target finger (201) reaches the target force, and the step in which the gripping operation is performed includes a first gripping mode in which the robot hand (10) is controlled so that the force of the plurality of fingers (200) coming into contact with the object (O) is balanced, or a first gripping mode in which the plurality of fingers (200) grip the object (O). It may include a second grip mode that controls the robot hand (10) so that the sum of the torques is less than the critical torque.

[0101] The robot hand system (1) can control the robot hand (10) in a gripping force control mode (first gripping mode) that controls the force with which the fingers (200) grip an object to stably grip an object (see FIG. 19).

[0102] An example of the first gripping mode is described as follows. For example, when the controller (20) executes the first gripping mode that is stored in advance or the first gripping mode is input by a user or the like, the controller (20) controls the robot hand (10) to move toward the object (O). Here, the position of the object (O) may be input in advance or may be detected using a detection sensor (31) of the platform (30). After the robot hand (10) moves to the object (O), each finger (200) grips the object (O). At this time, the target finger (200) gripping the object (O) among the multiple fingers (200), the number of fingers (200), and the target force of the fingers (200) vary depending on the object (O), and may be included in advance in the first gripping mode or may be input to the controller (200) by the user through the input unit (25). In addition, the controller (20) can move the robot hand (10) in the first grip mode so that the target finger (201) and the remaining fingers (200) are on different sides with the object (O) between them, and control the position of the target finger (201) so that the gripping force of the target finger (201) and the remaining fingers are in force balance.

[0103] The next controller (20) determines whether each tip sensor (400) included in the finger (200) required to perform the first grip mode is activated, i.e., whether each tip sensor (400) has come into contact with an object. When the tip (223) of the finger (200) comes into contact with an object (O), the tip sensor (400) can detect force and torque and transmit them to the controller (20). Based on these data, the controller (20) can determine whether the tip (223) of the finger (200) has come into contact with the object (O). If there is a finger (200) that has not come into contact with the object (O), the controller (20) can correct the position of the robot hand (10) again.

[0104] When the tip sensor (400) of the finger (200) is activated, the controller (20) can control the plurality of fingers (200) until the force detected by the tip sensor (400) of the first finger (201) among the plurality of fingers (200) reaches the target force. For example, as shown in FIG. 13, the controller (20) can control the fingers (200) so that the first finger (201), the second finger (202), and the third finger (203) grip the object (O) with forces F1, F2, and F3, respectively. That is, the key in the pinch motion for gripping the object (O) is the first finger (201) supporting the object (O) at the opposite position to the remaining fingers. The controller (20) can control the gripping force of the first finger (201) to stably support the object (O). If the gripping force of the first finger (201) does not reach the target force F1, the controller (20) can control multiple fingers (200) to increase or decrease the gripping force of the first finger (201) on the object (O).

[0105] When the gripping force of the first finger (201) reaches the target force F1, the controller (20) can add up the respective force vectors that come into contact with the object (O) and adjust the position of the finger (200) so that the gripping state can reach force equilibrium. For example, the controller (20) can adjust the position of the first finger (201) so that the sum of the force vectors becomes 0 based on the force vectors applied to the object (O) by the first finger (201) gripping the object (O) detected by the tip sensor (400) on one side and the remaining fingers (200) (e.g., the second finger (202) and the third finger (203)) gripping the object (O) on the other side (the side opposite to the first finger (201)) (see FIG. 14).

[0106] After adjusting the position of the first finger (201), the controller (20) determines again whether the sum of the force vectors of each finger (200) gripping the object (O) becomes 0. If the force equilibrium state is not reached, the controller (20) can adjust the position of the finger (200) again. If the force equilibrium state is reached, the controller (20) can control the platform (30) to move the object (O).

[0107] In this way, the robot hand system (1) controls the force with which the finger (200) of the robot hand (10) grips an object (O) to reach a target force, and then controls the position of one finger (200) (e.g., the first finger (201)) so that the sum of the force vectors with which the finger (200) grips the object (O) becomes 0. Accordingly, the robot hand (10) can stably grip the object (O) in a state of force balance.

[0108] The robot hand system (1) can control the robot hand (10) in a gripping torque control mode (second gripping mode) that controls the torque at which the fingers (200) grip an object to stably grip an object (see Fig. 20).

[0109] An example of the second gripping mode is described as follows. For example, when the controller (20) executes the pre-stored second gripping mode or receives the second gripping mode input from a user or the like, the controller (20) controls the robot hand (10) to move toward the object (O). Here, the position of the object (O) may be input in advance or may be detected using a detection sensor (31) of the platform (30). After the robot hand (10) moves to the object (O), each finger (200) grips the object (O). At this time, among the multiple fingers (200), the target finger (200) gripping the object (O), the number of fingers (200), the target force of the fingers (200), and the critical torque of the fingers (200) vary depending on the object (O), and may be pre-included in the second gripping mode or may be input to the controller (200) by the user through the input unit (25). In addition, the controller (20) can move the robot hand (10) in the second grip mode so that the target finger (201) and the remaining fingers (200) are on different sides with the object (O) between them, and control the position of the target finger (201) so that the gripping force of the target finger (201) and the remaining fingers are in force balance.

[0110] The next controller (20) determines whether each tip sensor (400) included in the finger (200) required to perform the second grip mode is activated, i.e., whether each tip sensor (400) has come into contact with an object. When the tip (223) of the finger (200) comes into contact with an object (O), the tip sensor (400) can detect force and torque and transmit them to the controller (20). Based on these data, the controller (20) can determine whether the tip (223) of the finger (200) has come into contact with the object (O). If there is a finger (200) that has not come into contact with the object (O), the controller (20) can correct the position of the robot hand (10) again.

[0111] When the tip sensor (400) of the finger (200) is activated, the controller (20) can control the finger (200) until the force detected by the tip sensor (400) of the first finger (201) among the plurality of fingers (200) reaches the target force. For example, as shown in FIG. 15, the controller (20) can control the finger (200) so that the first finger (201), the second finger (202), and the third finger (203) grip the object (O) with forces F1, F2, and F3, respectively. Then, the controller (20) causes the robot hand (10) to lift the object (O). Therefore, as shown in FIG. 16, torques T1, T2, and T3 are applied to the first finger (201), the second finger (202), and the third finger (203) that come into contact with the object (O), respectively. The controller (20) can determine whether the sum of the torques applied to each finger (200) exceeds a predetermined threshold torque. If the torque sum does not exceed the threshold torque, the controller (20) controls the platform (30) while maintaining the gripping state of the robot hand (10) so that the robot hand (10) moves the object (O) to a desired position.

[0112] If the torque sum exceeds the critical torque, the controller (20) can measure the weight of the object (O) based on the force detected by the tip sensor (400) of each finger (200). And the controller (20) can calculate the direction and size of the center of gravity C of the object (O) (vector of the center of gravity C). For example, the controller (20) can calculate the center of gravity C of the object (O) based on the measured weight of the object (O), the position of the tip sensor (400), and the torque value measured by the tip sensor (400) (see FIG. 16).

[0113] The next controller (20) releases the grip and controls the robot hand (10) to place the object (O) back on the floor. Then, the controller (20) can move the robot hand (10) toward the center of gravity C of the object (O) and then grip it again. For example, as shown in FIG. 17, the controller (20) causes the first finger (201), the second finger (202), and the third finger (203) to grip the object (O) again, and at this time, the forces F1', F2', and F3' with which each finger (200) contacts the object (O) may be the same as or different from the forces F1, F2, and F3 with which the fingers initially contacted the object (O). In addition, the controller (20) moves the positions of the first finger (201), the second finger (202), and the third finger (203) toward the center of gravity C of the object (O). At this time, the controller (20) can make the center of the gripping point, which is the point where the plurality of fingers (200) grip the object (O), correspond to the center of gravity C. Here, the gripping point can be the intersection of the vectors at which each finger (200) contacts the object (O). Then, the controller (20) can determine whether the sum of the torques detected by the tip sensors (400) of each finger (200) after lifting the object (O) exceeds the threshold torque. For example, as shown in FIG. 18, the torques of the first finger (201), the second finger (202), and the third finger (203) whose gripping positions have changed are T1', T2', and T3', respectively, and the controller (20) can determine again whether the sum of these torques exceeds the threshold torque. If the threshold torque is exceeded, the process returns to the step of measuring the weight of the object (O) and the subsequent control step can be performed again.

[0114] In this way, the robot hand system (1) can control the force of the finger (200) of the robot hand (10) to grip the object (O) to reach the target force, and then lift the object (O) to determine whether the torque sum satisfies the critical torque. If the critical torque is not satisfied, the controller (20) can control the position of the finger (200) to move toward the center of gravity C of the object (O) so that the torque sum of the finger (200) satisfies the critical torque. Therefore, the robot hand (10) can stably grip the object (O) by positioning the gripping center of the finger (200) at the center of gravity C of the object (O).

[0115] Alternatively, the controller (20) can ensure that the robot hand (10) maintains a state of force balance while simultaneously ensuring that the torque applied to the object (O) is below the critical torque. That is, the controller (20) can grip the object (O) by simultaneously applying the first gripping mode and the second gripping mode.

[0116] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely examples. Those skilled in the art will readily appreciate that various modifications and equivalent alternative embodiments are possible based on the embodiments described herein. Therefore, the true scope of technical protection of the present invention should be determined based on the appended claims.

[0117] A robot hand system and a robot hand system control method including a fingertip sensor according to embodiments of the present disclosure can be used in robot-related industries.

Claims

1. A step in which a controller moves a robot hand including multiple fingers to an object; A step in which the controller determines whether the tip sensor included in the plurality of fingers has come into contact with an object; A step of controlling the plurality of fingers until the gripping force of the target finger corresponding to the thumb among the plurality of fingers reaches the target force; and The above controller includes a step of performing a gripping action when the gripping force of the target finger reaches a target force; A method for controlling a robot hand system, wherein the step of performing the above-described gripping motion includes a first gripping mode for controlling the robot hand so that the force of the plurality of fingers contacting the object is balanced, or a second gripping mode for controlling the robot hand so that the sum of the torques of the plurality of fingers gripping the object is less than or equal to a critical torque.

2. In paragraph 1, A control method for a robot hand system, wherein the controller moves the robot hand so that the target finger and the remaining fingers are on different sides with respect to the object in the first grip mode, and controls the position of the target finger so that the gripping force of the target finger and the remaining fingers achieves a force balance.

3. In paragraph 1, A control method for a robot hand system, wherein the controller, in the second gripping mode, lifts an object while the plurality of fingers are gripping it and determines whether the torque sum of the plurality of fingers satisfies a threshold torque.

4. In paragraph 3, A control method for a robot hand system, wherein the controller measures the center of gravity of an object based on the force and torque detected by the tip sensor included in the plurality of fingers, and moves the plurality of fingers toward the center of gravity of the object, if the torque sum of the plurality of fingers does not satisfy the threshold torque.

5. In paragraph 4, A control method for a robot hand system, wherein the controller moves a plurality of fingers so that the centers of the gripping points of the plurality of fingers in contact with the object correspond to the center of gravity of the object.

6. A robotic hand comprising multiple fingers; and A controller for controlling the gripping motion of the robot hand; The plurality of fingers include a tip that contacts an object and a tip sensor included in the tip that measures the force and torque with which the finger grips the object; The above controller controls the plurality of fingers until the gripping force of the target finger corresponding to the thumb among the plurality of fingers reaches the target force, and performs a gripping action when the gripping force of the target finger reaches the target force. A robot hand system in which the controller controls the robot hand in a first gripping mode in which the robot hand is controlled so that the force with which the plurality of fingers contact an object is balanced, or in a second gripping mode in which the robot hand is controlled so that the sum of the torques with which the plurality of fingers grip an object is less than or equal to a critical torque.

7. In paragraph 6, A robot hand system in which the controller, in the first gripping mode, moves the robot hand so that the target finger and the remaining fingers are on different sides with respect to the object, and controls the position of the target finger so that the gripping forces of the target finger and the remaining fingers are balanced.

8. In paragraph 6, A robot hand system in which the controller, in the second gripping mode, lifts an object while the plurality of fingers are gripping it and determines whether the torque sum of the plurality of fingers satisfies a threshold torque.

9. In paragraph 8, A robot hand system in which the controller measures the center of gravity of an object based on the force and torque detected by the tip sensor included in the plurality of fingers, and moves the plurality of fingers toward the center of gravity of the object, if the torque sum of the plurality of fingers does not satisfy the threshold torque.

10. In paragraph 9, A robot hand system in which the controller moves the plurality of fingers so that the centers of the gripping points of the plurality of fingers in contact with the object correspond to the center of gravity of the object.

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