Soft Sensor Slip Detection for Robotic Grippers
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Solution Overview
Problem
Existing force sensors in robotic grippers fail to effectively detect incipient slip conditions, leading to inefficient grip control and potential failures or damage to objects.
Innovation Solution
A soft sensor system comprising a deformable element and a processing means, where the deformable element is made of an elastic material that deforms under external force, allowing for early detection of slip conditions by measuring changes in position and generating signals indicative of grip loosening, and a processing means determines slip conditions based on received data from the soft sensor elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional optical or vision-based monitoring is used to detect loose grip, then detection capability is improved, but device complexity increases
Solution Approach 1:
The patent combines the force sensing capability with slip detection functionality into a single integrated sensor system. The deformable element serves dual purposes: measuring grip force magnitude and detecting slip conditions through oscillation analysis, eliminating the need for separate optical or vision-based monitoring systems.
Solution Approach 2:
The force sensor is designed to perform multiple functions: measuring grip force, detecting incipient slip through oscillation, and providing early warning signals. This multi-functionality replaces what would otherwise require separate specialized sensors, reducing overall system complexity while maintaining detection precision.
2Reliability
If grip force is increased to secure the object, then grip security is improved, but object damage risk increases
Solution Approach 1:
The sensor provides continuous real-time feedback on grip force and slip conditions to the control system. This feedback enables dynamic adjustment of grip force, allowing the system to maintain secure grip while avoiding excessive force that could damage the object, and to respond immediately when slip is detected.
Solution Approach 2:
The sensor detects incipient slip conditions through oscillations before actual slip occurs, enabling the control system to take preliminary corrective action by adjusting grip force. This proactive approach prevents both object loss and potential damage from corrective overtightening.
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
Enables early detection of slip conditions, allowing for proactive control of the gripper's grip to prevent object loss, improving grip security and reducing the risk of failure or damage.
Implementation Method 1
the deformable element is made of an elastic material that deforms under external force, allowing for early detection of slip conditions by measuring changes in position
Data Source
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AI summary
A system for determining a slip condition is provided. The system comprises at least one soft sensor element, wherein each of the at least one soft sensor elements comprises a sensor, a deformable element, wherein the deformable element is deformable by the force, and at least one element for reacting with the sensor to produce data indicative of the applied force by a deformation of the deformable element, wherein the deformable element extends at least partially between the sensor and the at least one element, and a processing means, wherein the processing means is configured to receive data from the at least one the soft sensor element, and determine whether a slip condition is met based on the received data. Further, a corresponding method is provided.