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US 2014/0207275 A1Published application
Electric hand having force sensor
AssigneeFanuc Corporation
InventorTetsuro Sakano
Life of this patent
Estimating the term…
Abstract
An electric hand for grasping an object by opening and closing fingers includes a force sensor for detecting forces acting on the fingers. The fingers are actuated based on a detected force value detected by the force sensor. When it is judged that the detected force value has reached a predetermined target force value, an electric current supplied to an actuating section is restricted so as not to be greater than a predetermined holding electric current.
Claims4
An electric hand comprising a plurality of fingers for grasping an object when the fingers are opened and closed,
- the electric hand further comprising:
- an actuating section for actuating the plurality of fingers;
- a force sensor associated with at least one of the plurality of fingers and adapted to detect a force acting on the at least one of the plurality of fingers in a direction of the actuation;
- a force control section for outputting a drive command based on a detected force value detected by the force sensor;
- a drive section for driving the actuating section by supplying an electric current to the actuating section, based on the drive command output from the force control section;
- a force judging section for judging whether or not the detected force value has reached a predetermined target force value;
- and
- an electric current restricting section for restricting the electric current supplied to the actuating section so as not to be greater than a predetermined holding electric current when it is judged by the force judging section that the detected force value has reached the target force value.
5 more elements
Dependencies are inferred from the claim text.