# US 2026/0077486 A1 · End effector, end effector control device, and method for controlling gripper

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- Number: US 2026/0077486 A1
- Document ID: US20260077486A1
- Status: Published application
- Kind: A1
- Application number: 19/103,933
- Filed: 2023-08-01
- Published: 2026-03-19
- Earliest claimed: 2022-08-31
- Assignees: Osaka University
- Applicants: Osaka University
- Inventors: Keisuke KOYAMA
- Web page: https://patentgrep.com/patent/US20260077486A1

## CPC

- B25J 9/1612: {characterised by the hand, wrist, grip control}
- B25J 15/0475: {Exchangeable fingers}
- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 13/08: by means of sensing devices, e.g. viewing or touching devices
- B25J 13/088: {with position, velocity or acceleration sensors}
- B25J 15/12: with flexible finger members
- B25J 19/063: {working only upon contact with an outside object}
- G01L 5/166: using photoelectric means
- G01L 5/226: {to manipulators, e.g. the force due to gripping}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G)

## Abstract

An end effector is provided. The end effector comprises an operation part, a support body, and a detection surface. The operation part is configured to project toward one end, thereby coming into contact with an object. The support body is configured to flexibly support the operation part so that the position and/or orientation of the operation part is displaced when force generated due to contact between the operation part and the object is received. The detection surface is located at the other end of the operation part relative to the one end, the detection surface being configured to not come into contact with the object, and the position and/or orientation of the detection surface being displaced together with that of the operation part. In a state in which the end effector is attached to a robot arm, the detection surface is disposed so as to face a sensor that is capable of measuring the position and/or orientation of the detection surface.

## Claims

### Claim 1

An end effector comprising:
an action part configured to contact an object by protruding toward a one-end side thereof;
a support configured to flexibly support the action part such that at least one of a position and a posture of the action part is displaced when the action part receives a force generated by a contact with the object; and
a surface to be detected
configured not to contact the object on an other-end side opposite to the one-end side of the action part, at least one of a position and a posture of the surface to be detected being displaced together with the action part, and
is disposed, when the end effector is mounted on a robot arm, to face a sensor capable of determining at least one of the position and posture of the surface to be detected.

### Claim 2 (depends on 1)

The end effector according to claim 1, further configured to be detachable from the sensor located at an end of the robot arm.

### Claim 3 (depends on 1)

The end effector according to claim 1, further comprising the sensor.

### Claim 4 (depends on 1)

The end effector according to claim 1, wherein the surface to be detected is configured such that the position thereof can be displaced by 0.01 mm or more.

### Claim 5 (depends on 1)

The end effector according to claim 1, wherein:
the action part is a gripping claw(s), and
when a plurality of the end effectors are mounted on the robot arm, the gripping claws of the end effectors are configured to grip the object.

### Claim 6 (depends on 1)

An apparatus for controlling an end effector, comprising a controller wherein:
the end effector being the end effector according to claim 1; and
the controller is configured to control a mechanical parameter(s) of the action part on the basis of a result of a determination made by the sensor.

### Claim 7 (depends on 6)

The apparatus according to claim 6, wherein:
the end effector is configured such that:
the action part thereof is a gripping claw, and
the gripping claws thereof grip the object when a plurality of the end effectors are mounted on the robot arm; and
the controller is configured to:
acquire input parameters of the surfaces to be detected corresponding to the gripping claws for each of the gripping claws, the input parameters being one of the positions and postures of the surfaces to be detected, and
control the mechanical parameters of the gripping claws on the basis of a sum of or a difference between the input parameters.

### Claim 8 (depends on 7)

The apparatus according to claim 7, wherein the controller configured to control the mechanical parameter(s) related to translational movement of the gripping claws on the basis of the sum of the input parameters.

### Claim 9 (depends on 7)

The apparatus according to claim 7, wherein the controller configured to control the mechanical parameter(s) related to rotational motion of the gripping claws on the basis of the difference between the input parameters.

### Claim 10 (depends on 6)

The apparatus according to claim 6, wherein the mechanical parameter(s) include at least one of a position and a posture.

### Claim 11 (depends on 6)

The apparatus according to claim 6, wherein the mechanical parameter(s) include at least one of velocity and acceleration.

### Claim 12

A method for controlling a gripper comprising a plurality of gripping claws, comprising:
an acquisition step of acquiring input parameters of surfaces to be detected corresponding to the gripping claws for each of the gripping claws, the input parameters including at least one of the positions and postures of the surfaces to be detected; and
a control step of controlling a mechanical parameter(s) of the gripping claws on the basis of a sum of or a difference between the input parameters.

### Claim 13 (depends on 12)

The method according to claim 12, wherein the control step includes controlling the mechanical parameter(s) related to translational motion of the gripping claws on the basis of the sum of the input parameters.

### Claim 14 (depends on 12)

The method according to claim 12, wherein the control step includes controlling the mechanical parameter(s) related to rotational motion of the gripping claws on the basis of the difference between the input parameters.

### Claim 15 (depends on 12)

The method according to claim 12, wherein the mechanical parameter(s) includes at least one of a position and a posture.

### Claim 16 (depends on 12)

The method according to claim 12, wherein the mechanical parameter(s) includes at least one of velocity and acceleration.