Sensor-Fused Robotic Hand Control for Intuitive Object Gripping
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Solution Overview
Problem
Conventional prosthetic hands lack the ability to provide intuitive and efficient gripping forces, relying on non-intuitive button presses or muscle sensing methods that are difficult to implement effectively.
Innovation Solution
A robotic hand system equipped with first and second sensor units to detect real-time posture and three-dimensional object information, a processor to infer user intentions, and a machine learning unit to analyze and control the robotic hand's motion, allowing for efficient and intuitive gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If button pressing method is used to control prosthetic hand, then prosthetic hand can be operated, but operation becomes non-intuitive requiring conscious individual motion signals
Solution Approach 1:
The patent replaces the mechanical button-pressing control system with a sensor-based detection system that automatically senses user movement intentions. The sensor unit detects movements of the user's body or affected part, and the processor automatically generates control signals, eliminating the need for conscious button pressing and making operation intuitive.
Solution Approach 2:
The system enables self-service operation by automatically detecting the user's movement intentions through sensors and autonomously controlling the prosthetic hand's motion. The user simply needs to intend or slightly move the affected part, and the system handles the rest of the control process automatically.
2Adaptability or versatility
If muscle movement sensing method is used to operate prosthetic hand, then prosthetic hand responds to user movement, but various motion signals become difficult to obtain
Solution Approach 1:
The sensor unit is designed to detect multiple types of movements including body movements and movements of the affected part. The processor is configured to generate various motion signals (first motion signal for approaching, second motion signal for gripping) from these detections, enabling the system to obtain diverse motion signals through a single multi-functional sensing approach.
3Force
If conventional prosthetic hand without active control is used, then prosthetic hand can be worn on amputated arm, but gripping force cannot be provided
Solution Approach 1:
The patent replaces passive mechanical structures with an active control system comprising sensor units and processors that automatically generate control signals. This substitution enables the prosthetic hand to actively generate gripping force by detecting user intentions and autonomously controlling the gripping motion, rather than relying solely on passive mechanical components.
Data Source
AI summary
Provided are a robotic hand system and a method for controlling a robotic hand. A robotic hand system operated by a user according to an example embodiment, the robotic hand system may include a robotic hand configured to grip a target object, a first sensor unit disposed on the robotic hand, the first sensor unit configured to detect a real-time posture of the robotic hand, a second sensor unit disposed on the robotic hand, the second sensor unit configured to detect three-dimensional surface information of the target object that appears based on the robotic hand, and a processor configured to infer, based on sensing information of the first sensor unit and the second sensor unit, a motion of the robotic hand conforming to an intention of the user, and operate the robotic hand according to the inferred motion. The robotic hand may include a finger module including a plurality of frames, and one or more joint portions connected to the plurality of frames, the one or more joint portions configured to change positions of the plurality of frames.