Curved Elastic Fingertip Gripping with Contact-Normal Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing technologies struggle to stably grip unknown objects due to the inability to accurately detect and control the contact surface normal and contact point of curved elastic fingertips, leading to issues with initial slip and force-moment balance.
Innovation Solution
A gripping control device and method that utilizes a detector to measure displacement in the normal and shear directions of curved elastic bodies on fingertips, calculating the contact surface normal and contact point to determine appropriate fingertip forces for stable gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If curved elastic bodies are used for fingertips to grip unknown objects, then adaptability to various object shapes is improved, but measurement precision of contact surface normal and contact point deteriorates
Solution Approach 1:
The fingertip is divided into multiple curved elastic bodies (first, second, and third elastic bodies) with different curvature radii. Each elastic body independently contacts the object surface, allowing the system to adapt to various object shapes while providing multiple measurement points for accurate contact surface normal and contact point detection through segmented measurement data
Solution Approach 2:
The patent changes the curvature radius parameter of the elastic bodies to create a set with different curvature characteristics. This parameter variation allows the fingertip structure to adapt to objects of different curvatures while the combination of measurements from elastic bodies with different parameters enables precise calculation of contact surface normals and contact points
2Reliability
If displacement detection of elastic bodies is implemented to calculate contact surface normal, then gripping stability on unknown objects is improved, but device complexity increases
Solution Approach 1:
The elastic bodies themselves serve as both the gripping elements and the measurement elements. The displacement of each elastic body directly provides the data needed to calculate contact surface normals and contact points, eliminating the need for separate sensors and reducing overall device complexity while maintaining gripping stability
Solution Approach 2:
The curved elastic bodies perform multiple functions simultaneously: they provide the gripping force needed to hold the object, adapt to the object's shape through deformation, and serve as displacement sensors that enable calculation of contact surface normals and contact points. This multi-functionality reduces device complexity while improving gripping reliability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables stable gripping of unknown objects by detecting initial slip and maintaining force-moment balance, allowing for minimal force application and expanded grippable object range.
Implementation Method 1
a plurality of elastic bodies 10 each having a curved surface shape... detects displacement in a normal direction of each of a plurality of elastic bodies
Data Source
AI summary
A gripping control device according to the present disclosure includes: a detector that detects displacement in a normal direction of each of a plurality of elastic bodies each having a curved surface shape, the plurality of elastic bodies provided for each of a plurality of fingertips that is in contact with a gripped object; and a calculation section that calculates a contact surface normal of each of the fingertips to the gripped object on the basis of a result of detection by the detector.