Robotic Hand Grip Pattern Control With Sensor-Based Correction
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Solution Overview
Problem
Conventional hand control systems for robots struggle to accurately grip objects due to inadequate detection of contact positions and postures, leading to instability and inefficiency in gripping and manipulation tasks.
Innovation Solution
A hand control apparatus equipped with a shape acquiring unit, force sensors, tactile sensors, and a storage unit that extracts and applies grip patterns to calculate optimal gripping positions and postures, with a determining unit to assess and correct the gripped state for improved stability, operability, and contact force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the multi-fingered hand contacts the object while maintaining it at rest to detect contact position, then the position information can be corrected, but the gripping process becomes time-consuming and inefficient
Solution Approach 1:
The system performs preliminary actions by acquiring shape information of the object before actual gripping, extracting grip patterns from stored data, and calculating gripping positions and postures in advance. This allows the hand to grip the object directly without time-consuming contact detection during the gripping process itself.
Solution Approach 2:
The system uses shape information acquired by the shape acquiring unit as a copy or representation of the object's geometry, and compares it with stored shape data to extract appropriate grip patterns. This copying approach eliminates the need for physical contact to detect object characteristics.
2Productivity
If grip patterns are extracted from stored shape data, then gripping speed improves, but accuracy may be compromised without actual contact detection
Solution Approach 1:
The determining unit evaluates whether the gripped state is appropriate by analyzing information from force sensors and tactile sensors after gripping. The gripped state correcting unit then adjusts the gripping position and posture based on this feedback, ensuring high accuracy even when using pre-extracted grip patterns.
Solution Approach 2:
The system dynamically adjusts the grip pattern selection and gripping parameters based on the actual object shape acquired in real-time. The grip pattern extracting unit selects patterns that best match the acquired shape, and the correcting unit makes real-time adjustments, making the system adaptable rather than static.
3Device complexity
If the hand grips the object based on calculated position and posture, then the gripping process is simplified, but the gripped state may be inappropriate without verification
Solution Approach 1:
The determining unit verifies the appropriateness of the gripped state by analyzing feedback from force sensors and tactile sensors. The gripped state correcting unit adjusts the grip based on this verification, ensuring reliability without significantly complicating the control process.
Solution Approach 2:
The system performs self-verification and self-correction. The determining unit automatically evaluates the gripped state using sensor information, and the correcting unit automatically adjusts the grip parameters, making the system self-sufficient in ensuring reliable gripping without external intervention.
Data Source
AI summary
A hand control apparatus including an extracting unit extracting a grip pattern of an object having a shape closest to that of the object acquired by a shape acquiring unit from a storage unit storing and associating shapes of plural types of objects and grip patterns, a position and posture calculating unit calculating a gripping position and posture of the hand in accordance with the extracted grip pattern, a hand driving unit causing the hand to grip the object based on the calculated gripping position and posture, a determining unit determining if a gripped state of the object is appropriate based on information acquired by at least one of the shape acquiring unit, a force sensor and a tactile sensor, and a gripped state correcting unit correcting at least one of the gripping position and the posture when it is determined that the gripped state of the object is inappropriate.