Sensorized Robotic Gripper Palm for Accurate Grasp Detection
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Solution Overview
Problem
Robotic grippers, especially those with underactuated digits, face challenges in accurately determining grasp success and quality due to limited control inputs and reliance on remote sensors, which can be unreliable and increase system complexity.
Innovation Solution
Incorporating non-contact sensors such as time-of-flight sensors and infrared cameras on the palm of the gripper to generate multiple sensing modalities, allowing for more accurate data collection and processing of grasp attempts, with an object-in-hand classifier using this data to determine grasp outcomes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If remote sensors are used to determine grasp success, then system complexity increases, but measurement precision deteriorates
Solution Approach 1:
The system segments the sensing function by placing multiple independent sensors (time-of-flight sensor, infrared camera, visible light camera) at different locations on the robotic gripper. Each sensor provides localized measurements, and their data is integrated to achieve comprehensive grasp detection without requiring a single complex sensor system
Solution Approach 2:
The patent introduces an intermediary processing system that collects data from multiple sensors and uses machine learning algorithms to determine grasp success. This intermediary layer integrates information from distributed sensors, reducing the complexity burden on any single sensor while improving overall measurement precision
2Measurement precision
If multiple sensing modalities are integrated on the palm, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent merges multiple sensing modalities (time-of-flight, infrared, visible light) into a single integrated sensor array mounted on the gripper palm. This consolidation allows simultaneous multi-modal data collection from the same location, improving measurement precision while managing structural complexity through unified mounting
Solution Approach 2:
The sensor array on the gripper palm serves multiple functions: depth measurement, thermal detection, visual recognition, and grasp verification. This multi-functionality reduces the need for separate specialized sensor systems, balancing enhanced measurement capabilities with controlled device complexity
3Device complexity
If underactuated digits are used, then device complexity reduces, but measurement precision deteriorates
Solution Approach 1:
The system implements feedback loops where sensor data from the gripper palm continuously monitors grasp outcomes. This feedback mechanism compensates for the limited control inputs of underactuated digits by using sensor measurements to infer grasp quality and adjust control strategies accordingly
Solution Approach 2:
The patent replaces complex mechanical sensing mechanisms with optical and electromagnetic sensors (time-of-flight, infrared). This substitution enables precise measurement of grasp outcomes without requiring complex mechanical feedback structures, allowing underactuated digits to achieve accurate grasp assessment through sensor-based inference
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
Enhances the accuracy of grasp success determination and reduces system complexity by providing local, direct sensor data, improving the robotic gripper's ability to interact with various objects effectively.
Implementation Method 1
a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data
Implementation Method 2
an infrared camera, comprising an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data
Data Source
AI summary
A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.