Robot Grip Force Control Using Tactile and Force Sensors
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Solution Overview
Problem
Existing grip control technologies for robots lack accuracy in calculating contact force, leading to inadequate grip force settings, which can result in objects slipping or being crushed, especially when dealing with unknown objects in varied environments.
Innovation Solution
A control device and method that utilize both tactile and force sensors to calculate contact force, allowing for precise grip force control by combining sensing results from these sensors to improve accuracy and sensitivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only pressure detection elements are used to calculate contact force, then the device complexity is reduced, but the measurement precision of contact force deteriorates
Solution Approach 1:
The patent combines tactile sensors and force sensors into an integrated sensing system. The tactile sensors are embedded in the contact section while force sensors are positioned at the joint, creating a merged sensing architecture that simultaneously captures contact force magnitude and grip state information, thereby improving measurement precision without proportionally increasing device complexity
Solution Approach 2:
The sensing system is segmented into two functional parts: tactile sensors located at the contact section for detecting contact force and grip state, and force sensors located at the joint for detecting overall force. This segmentation allows each sensor type to be optimized for its specific function while working together to provide comprehensive contact force measurement
2Reliability
If multiple sensors are used to improve grip control accuracy, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The tactile sensors serve multiple functions: detecting contact force magnitude, determining grip state (slipping, non-slipping, transitioning), and providing feedback for grip force adjustment. This multi-functionality reduces the need for separate dedicated sensors for each function, thereby improving reliability without proportionally increasing device complexity
Solution Approach 2:
The control device acts as an intermediary that processes information from both tactile and force sensors, integrates their data, and generates appropriate grip force control commands. This intermediary processing layer coordinates the multiple sensors efficiently, managing the complexity while maximizing the reliability benefits of using multiple sensors
3Measurement precision
If tactile sensors and force sensors are combined for precise grip control, then the measurement precision improves, but the processing load increases
Solution Approach 1:
The control device processes sensor data selectively based on the current grip state. When the grip state is clearly identified as slipping or non-slipping, full processing is applied. During stable grip states, the processing load is reduced by maintaining current control parameters without continuous recalculation, thereby reducing processing energy consumption while maintaining measurement precision
Solution Approach 2:
The tactile sensors provide self-service by directly indicating grip state conditions (slipping, non-slipping, transitioning) through their output signals. This self-indicating capability reduces the need for complex processing algorithms to interpret sensor data, as the sensors themselves provide readily interpretable grip state information that simplifies the processing load
Data Source
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AI summary
[Problem to be Solved] To provide a control device, a control method, and a program which are able to appropriately control a grip force of when a contact section and an object come into contact with each other. [Solution] A control device including a grip controller that controls a grip force related to a contact section depending on a contact force of when the contact section and an object come into contact with each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact section and a sensing result obtained by a force sensor disposed at the contact section.