Robotic Hand Multipoint Contact Control via Load Difference Minimization
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Solution Overview
Problem
Robotic devices with arms and hands face inefficiencies in multipoint contact tasks due to complex dynamic models and difficulty in coordinating arm and hand forces for effective surface tracking and pressure control.
Innovation Solution
A robotic device with a first and second link portion, contact load detecting portions, and control target setting mechanisms that adjust and coordinate contact loads and movements to facilitate multipoint contact operations, allowing for precise tracking of object surfaces and controlled pressing forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the whole surface of the hand contacts the object for multipoint contact operations, then the contact area increases and work efficiency improves, but the dynamic model becomes complex and force control difficulty increases
Solution Approach 1:
The hand is divided into multiple link portions (base portion, fingers, palm) with independent contact load detecting portions. Each segment can be controlled independently to achieve multipoint contact while maintaining manageable complexity through modular control of individual segments rather than treating the entire hand as a single complex unit.
Solution Approach 2:
Contact load detecting portions provide real-time feedback on the pressing force at each contact point. This feedback enables the control target setting portion to automatically adjust arm and hand forces to maintain optimal contact pressure distribution across multiple points, simplifying the control of complex multipoint contact dynamics.
2Ease of operation
If the fingertips only contact the object, then the contact area is small and control is simple, but the work efficiency decreases and surface tracking capability is limited
Solution Approach 1:
The invention merges the advantages of fingertip contact (precise control) with palm contact (large contact area) by coordinating both link portions to contact the object simultaneously. The control system integrates the control of multiple link portions to achieve both simplicity and effectiveness in multipoint contact operations.
Solution Approach 2:
The hand structure is designed to perform multiple functions: fingertips can contact for precise manipulation while the palm provides broad surface contact for stable support and area coverage. This multi-functionality allows the system to adapt to different task requirements without sacrificing control simplicity.
3Ease of operation
If the pressing force of the arm is controlled independently, then the arm force is easy to control, but the actual pressing force distribution over the hand surface becomes unpredictable and coordination is difficult
Solution Approach 1:
Contact load detecting portions measure the actual pressing force at each hand contact point and provide feedback to the control target setting portion. This enables automatic coordination of arm and hand forces to achieve predictable and uniform pressing force distribution across the entire hand surface, resolving the unpredictability of force transmission through the hand.
Solution Approach 2:
The invention replaces purely mechanical force transmission with a coordinated control system that uses sensor feedback to regulate force distribution. The control target setting portion processes feedback signals to adjust both arm and hand forces, substituting simple mechanical force application with an intelligent control mechanism that ensures precise force distribution.
Data Source
AI summary
A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.