Grip tool, grip system, slip detection device, slip detection program, and slip detection method
AssigneeNational University Corporation Kagawa University
InventorsHidekuni Takao, Masao Fujiwara
Life of this patent
Estimating the term…
Abstract
Provided is a grip tool that allows detecting a slip of an object. The grip tool includes a pair of grip portions that sandwiches to grip an object; an opening/closing mechanism that opens and closes the pair of grip portions; and at least one sensor unit disposed in one or both of the pair of grip portions. The sensor unit includes a plurality of force sensors disposed in a predetermined distribution. The plurality of force sensors each have a function of measuring forces in triaxial directions received from the object. The sensor unit can measure a load distribution received from the object. The slip of the object is detectable based on the load distribution.
Claims21
A grip system comprising:
- a grip tool;
- and
- a slip detection device, wherein the grip tool includes:
- a pair of grip portions that sandwiches to grip an object;
- an opening/closing mechanism that opens and closes the pair of grip portions;
- and
- at least one sensor unit disposed in one or both of the grip portions of the pair of grip portions, wherein
- the at least one sensor unit includes a plurality of force sensors disposed in a predetermined distribution, the plurality of force sensors each have a function of measuring forces in triaxial directions received from the object,
- the slip detection device is configured to detect a slip of the object by using a distribution of a combined load as a load distribution, wherein the combined load is obtained by combining the forces measured in triaxial directions measured by the force sensors, using the following formula
- F=√{square root over (fx2+fy2+fz2)} (1),
- where F is the combined load, fx is the force in an x-axis direction of the triaxial directions, fy is the force in a y-axis direction of the triaxial directions, and fz is the force in a Z-axis direction of the triaxial directions.
A slip detection device for detecting a slip of an object gripped by a grip tool including a grip portion having a sensor unit with a plurality of force sensors, wherein
- the slip detection device is configured to detect the slip of the object by using a distribution of a combined load as a load distribution, the combined load obtained by combining forces in triaxial directions measured by the force sensors, using the following formula
- F=√{square root over (fx2+fy2+fz2)} (1),
- where F is the combined load, fx is the force in an x-axis direction of the triaxial directions, fy is the force in a y-axis direction of the triaxial directions, and fz is the force in a Z-axis direction of the triaxial directions;
- wherein a prediction of a start of slipping of the object is reflected to control an actuator of the grip tool.
A non-transitory, computer-readable storage medium storing a slip detection program for causing a computer to execute a process for detecting a slip of an object gripped by a grip tool including a grip portion having a sensor unit with a plurality of force sensors, wherein the process includes:
- detecting a slip of the object by using a distribution of a combined load as a load distribution, the combined load obtained by combining forces in triaxial directions measured by the force sensors, using the following formula
- F=√{square root over (fx2+fy2+fz2)} (1),
- where F is the combined load, fx is the force in an x-axis direction of the triaxial directions, fy is the force in a y-axis direction of the triaxial directions, and fz is the force in a Z-axis direction of the triaxial directions;
- wherein a prediction of a start of slipping of the object is reflected to control an actuator of the grip tool.
A slip detection method for detecting a slip of an object gripped by a grip tool including a grip portion having a sensor unit with a plurality of force sensors, the slip detection method comprising:
- detecting a slip of the object by using a distribution of a combined load as a load distribution, the combined load obtained by combining forces in triaxial directions measured by the force sensors, using the following formula
- F=√{square root over (fx2+fy2+fz2)} (1),
- where F is the combined load, fx is the force in an x-axis direction of the triaxial directions, fy is the force in a y-axis direction of the triaxial directions, and fz is the force in a Z-axis direction of the triaxial directions;
- wherein a prediction of a start of slipping of the object is reflected to control an actuator of the grip tool.
Dependencies are inferred from the claim text.