Robot Hand Grasp Verification for Deformable Objects
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing techniques fail to accurately determine whether a robot hand has successfully grasped deformable objects, such as clothes that sag due to gravity, as they rely on pressure and grasping width monitoring, which is insufficient for assessing successful grasping.
Innovation Solution
A grasping apparatus with an arm unit, hand unit, observation unit, and determination unit that performs a grasping motion and then moves the hand unit to displace the object so that an ungrasped part covers an observation spot, determining successful grasping when the observation unit can no longer observe the spot, using image pickup or light-based systems for observation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pressure and grasping width monitoring is used to determine successful grasping, then the determination method is simple, but it cannot accurately determine successful grasping of deformable objects
Solution Approach 1:
The patent replaces mechanical monitoring methods (pressure sensors, grasping width measurement) with an optical observation system. The observation unit uses optical fields to detect whether the second spot is covered by the deformable object, substituting mechanical measurement with optical detection to achieve accurate grasping determination for deformable objects.
Solution Approach 2:
The patent introduces a second spot as an intermediary observation target. Instead of directly measuring grasping force or width, the system observes whether the deformable object covers this intermediate spot during determination operation, providing an indirect but accurate method to assess grasping success.
2Reliability
If the observation unit is disposed in the hand unit to observe the second spot, then grasping determination can be performed, but the apparatus structure becomes more complex
Solution Approach 1:
The observation unit serves multiple functions: it observes the second spot during determination operation, and can also be used for other monitoring purposes during grasping operations. The hand unit integrates both the grasping function and the observation function, making the observation system multi-functional rather than a separate dedicated system.
Solution Approach 2:
The patent merges the observation unit with the hand unit structure. Instead of having a separate observation system, the observation unit is integrated into the hand unit, combining the grasping mechanism and observation mechanism into a unified structure to reduce overall system complexity.
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
This method allows for accurate determination of successful grasping of deformable objects by utilizing the deformation feature, reducing the complexity of the apparatus structure and potentially integrating grasping determination with control operations, thereby improving reliability and efficiency.
Implementation Method 1
an observation unit capable of observing a second spot of the hand unit... determine that the hand unit has successfully grasped the target object when the observation unit can no longer observe the second spot
Data Source
AI summary
A grasping apparatus brings a hand unit to a standstill after performing a grasping motion for a target object that deforms when being grasped, performs a determination operation of making an arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover a specific spot, and determines that the hand unit has successfully grasped the target object when an observation unit can no longer observe the specific spot after starting the determination operation.