Robot Hand Slip Feedback for Unknown Object Placement

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Solution Overview

Problem

Existing technologies for gripping and placing objects with a robot hand require setting a slip threshold for each object, making them unsuitable for unknown objects, and may apply excessive force, potentially damaging the object.

Innovation Solution

An information processing device that detects slip, estimates external force and moment using a tactile sensor, and adjusts the grip and arm operation to maintain balance and stability during object placement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a slip threshold is set in advance for each object, then the object placement stability is improved, but the adaptability to unknown objects deteriorates

Engineering Contradiction:

Improveobject placement stabilityVSAvoidadaptability to unknown objects

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent employs feedback mechanisms where slip sensors detect actual slip occurrences during object manipulation, and this information is fed back to dynamically adjust control parameters. This eliminates the need for pre-set thresholds for each object type, enabling the system to adapt to unknown objects while maintaining placement stability through real-time adjustments.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The control parameters are made dynamic rather than static. The system continuously adjusts grip force, arm movement, and placement parameters based on real-time sensor feedback about slip conditions, object properties, and task requirements. This dynamic adaptation allows the same system to handle diverse unknown objects effectively.

Inventive Principle:

Principle #15Dynamics

2Productivity

If the workpiece is dropped with the force of gravity, then the placement speed is improved, but the object damage risk increases

Engineering Contradiction:

Improveplacement speedVSAvoidimpact damage to workpiece

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The patent implements cushioning measures before impact occurs by using compliant grippers and controlled deceleration mechanisms. The system prepares for potential impact by having damping elements ready and progressively reducing arm speed as the object approaches the target surface, thereby preventing damage while maintaining efficient placement.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The placement process uses periodic adjustment of arm velocity and grip force. Instead of a single continuous motion, the system applies periodic control pulses that gradually reduce speed near the target, allowing the object to be placed gently without excessive impact while maintaining overall placement efficiency.

Inventive Principle:

Principle #19Periodic action

3Reliability

If the gripping force is increased to prevent slip, then the object stability during gripping is improved, but the object damage risk increases

Engineering Contradiction:

Improvegrip stabilityVSAvoiddamage to object from excessive grip force

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The gripping force is dynamically adjusted based on real-time feedback from slip sensors and force sensors. The system starts with lower grip force and increases it only when slip is detected, rather than applying maximum force from the beginning. This dynamic adjustment maintains grip stability while minimizing the risk of damaging the object.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Slip detection provides feedback that triggers adjustments in gripping force. When slip is detected, the system increases grip force to the minimum level necessary to prevent further slip, rather than applying excessive force continuously. This feedback-based control ensures adequate grip stability while avoiding object damage.

Inventive Principle:

Principle #23Feedback

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 placement of unknown objects by adjusting grip force and posture to prevent damage, ensuring balanced forces and moments are maintained.

Implementation Method 1

a slip detecting unit that detects a slip generated in an object gripped by a finger portion constituting a grip portion

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS12384050B2Information processing device, information processing method, and program

Publication Date: 2025.08.12 SONY GROUP CORP

AI summary

An information processing device according to one aspect of the present technology detects a slip generated in an object being gripped by a finger portion constituting a grip portion, and estimates an external force and an external moment applied to the object on the basis of the slip generated in the object. In addition, the information processing device controls the operation of an arm portion on the basis of the estimated external force and external moment to adjust at least one of the position or the posture of the finger portion constituting the grip portion provided in the arm portion. The present technology can be applied to a control device of a robot hand.