Grip Tool Load Distribution Sensing for Slippery Object Slip
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Solution Overview
Problem
Current methods fail to accurately detect slips of slippery objects, particularly in medical and robotic applications, due to low friction states and difficulty in determining slip based on frictional forces, especially when dealing with human organs covered in lubricant films.
Innovation Solution
A grip tool equipped with a sensor unit featuring multiple force sensors that measure forces in triaxial directions, allowing for the detection of slips by analyzing load distribution, center position changes, peak position movements, and parallel movements of the load distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If friction-based slip detection methods are used, then slip detection is effective for high-friction objects, but detection fails for slippery objects with low friction coefficients
Solution Approach 1:
The patent replaces friction-based mechanical slip detection with a sensor-based load distribution detection system. Multiple force sensors measure the distribution of contact forces between the gripper and object, enabling slip detection through changes in load distribution patterns rather than relying on friction forces. This substitution allows accurate slip detection on slippery surfaces where traditional friction-based methods fail.
2Measurement precision
If multiple force sensors are used to detect load distribution, then slip detection accuracy improves, but device complexity increases
Solution Approach 1:
The patent merges multiple force sensors into an integrated sensor unit that is embedded within the gripper structure. The sensors are arranged to collectively measure load distribution across the contact surface, and their data is processed together to detect slip conditions. This merging approach achieves accurate slip detection while consolidating the sensor system into a compact, manageable unit rather than treating it as multiple separate components.
Solution Approach 2:
The sensor unit serves multiple functions: it measures normal forces, shear forces, and load distribution patterns simultaneously. By making the sensor system multi-functional, the patent reduces the need for separate detection mechanisms and achieves comprehensive slip detection capability without proportionally increasing device complexity.
3Device complexity
If friction-based detection is used for slippery organs, then the detection method is simple, but it cannot reliably detect slips due to low friction forces
Solution Approach 1:
The patent replaces unreliable friction-based mechanical detection with sensor-based load distribution measurement. The sensor unit detects changes in the spatial distribution of contact forces, which remain reliable even when overall friction forces are low. This substitution maintains detection simplicity through automated sensor reading while dramatically improving reliability for slippery medical applications.
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 accurate detection of slips in slippery objects with low friction, even when frictional forces are weak, improving grip stability in medical and robotic applications.
Implementation Method 1
a sensor unit with a plurality of force sensors each having a function of measuring forces in triaxial directions
Data Source
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AI summary
Provided is a grip tool that allows detecting a slip of an object. The grip tool includes a pair of grip portions 11 that sandwiches to grip an object; an opening/closing mechanism that opens and closes the pair of grip portions 11; and at least one sensor unit 20 disposed in one or both of the pair of grip portions 11. The sensor unit 20 includes a plurality of force sensors 30 disposed in a predetermined distribution. The plurality of force sensors 30 each have a function of measuring forces in triaxial directions received from the object. The sensor unit 20 can measure a load distribution received from the object. The slip of the object is detectable based on the load distribution.