Faceted Robotic Finger Haptic Control for Stable Grasping
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Solution Overview
Problem
Existing robotic systems face challenges in reliably grasping objects due to the impracticality or impossibility of determining an object's local surface properties, such as curvature, stiffness, and friction, which affects the stability and reliability of the grasp.
Innovation Solution
The use of articulated fingers with non-uniform facets and haptic sensors to measure force and torque, allowing the robotic system to adaptively control the grasp based on haptic feedback, without needing to determine the object's surface properties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic system determines the object's local surface properties (curvature, stiffness, friction), then the grasp stability and reliability is improved, but the measurement and detection complexity becomes impractical or impossible
Solution Approach 1:
The robotic system employs haptic sensors to continuously measure contact forces and torques during the grasping process, using this real-time feedback to adaptively adjust finger positions and forces. This closed-loop feedback mechanism allows the system to achieve reliable grasps without needing to pre-determine complex surface properties, as the haptic feedback provides direct information about contact conditions.
Solution Approach 2:
The patent replaces traditional mechanical approaches to surface property detection (which would require complex measurement devices and procedures) with haptic sensing that directly measures forces and torques. This substitution simplifies the measurement process by using force/torque sensors instead of attempting to directly measure curvature, stiffness, or friction properties.
2Reliability
If the robotic system uses complex surface property determination methods, then the grasp reliability is improved, but the device complexity increases
Solution Approach 1:
The system uses haptic feedback from force/torque sensors to continuously monitor contact conditions and adaptively adjust the grasping strategy. This feedback loop replaces complex pre-characterization methods with a simpler adaptive control approach that achieves reliable grasps through real-time sensing and adjustment.
Solution Approach 2:
The robotic system performs self-adjustment based on haptic feedback during the grasping process. The control system automatically modifies finger positions and forces in response to sensed contact conditions, eliminating the need for external intervention or complex pre-programmed surface property databases.
3Reliability
If the robotic system uses adaptive control based on haptic feedback, then the grasp reliability is improved without determining surface properties, but the control complexity increases
Solution Approach 1:
The control system uses haptic feedback from force/torque sensors to continuously monitor contact conditions and adaptively adjust finger positions and forces. This feedback-driven control achieves reliable grasps by responding to actual contact conditions rather than relying on pre-determined surface properties, managing control complexity through sensor-guided adaptation.
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 grasping of objects by minimizing slip and slide, reducing computational complexity, and improving the reliability of robotic interactions.
Implementation Method 1
a haptic sensor configured to measure force and torque of each finger on the object, for a particular contact point
Data Source
AI summary
Techniques and apparatus for adaptively controlling an end-effector of a robotic arm are provided. The end-effector includes at least one articulated finger having multiple facets arranged on a surface of the at least one articulated finger. The robotic arm is moved to engage an item using the at least one articulated finger. At least one of an amount of force or an amount of torque applied to the multiple facets on the surface of the at least one articulated finger is determined while the item is engaged using the at least one articulated finger. At least one of a position and orientation of the at least one articulated finger is adaptively controlled, based on at least one of the determined amount of force or the amount of torque.