Robotic Gripper Palm Sensing for Reliable Grasp Evaluation
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Solution Overview
Problem
Robotic grippers with underactuated digits face challenges in determining grasp success and quality due to limited control inputs and the reliance on force-based sensors, which can be unreliable, especially when interacting with varied objects like paper or plastic cups.
Innovation Solution
Incorporating a combination of non-contact sensors, such as a time-of-flight sensor and an infrared camera on the palm of the gripper, to generate multiple sensing modalities like distance and reflectance data, and grayscale image data, which are used by an object-in-hand classifier to assess grasp success and quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If force-based sensors are used to determine grasp success, then grasp evaluation can be performed, but the sensors become unreliable when interacting with varied objects like paper or plastic cups
Solution Approach 1:
The patent replaces force-based mechanical sensors with optical sensing systems (time-of-flight sensors and infrared cameras) that use light instead of mechanical contact to detect object presence and grasp status. This substitution eliminates the reliability issues of force sensors with delicate objects while maintaining grasp evaluation capability through optical reflection and distance measurements.
Solution Approach 2:
The patent introduces light as an intermediary medium between the sensor and the object. Instead of direct mechanical contact through force sensors, the system uses light reflection and time-of-flight measurements as intermediaries to indirectly detect grasp success, thereby protecting delicate objects while still obtaining reliable detection data.
2Measurement precision
If non-contact sensors are added to the gripper, then grasp evaluation accuracy improves, but device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions (distance measurement and image capture) into a single integrated sensor module mounted on the gripper. The time-of-flight sensor and infrared camera work together as a unified system, sharing mounting structure and processing resources, which reduces overall complexity compared to separate sensor systems while maintaining high measurement precision through multimodal data fusion.
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 approach provides more accurate and reliable grasp evaluation, especially for underactuated grippers, by leveraging multimodal sensor data to distinguish between grasped and ungrasped states, improving the robotic system's ability to handle diverse 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 in a direction between the plurality of digits
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 in the direction between the plurality of digits
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.