The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 25, 2023
Filed:
Nov. 24, 2020
Korea Institute of Science and Technology, Seoul, KR;
Donghyun Hwang, Seoul, KR;
Sungwoo Park, Seoul, KR;
Korea Institute of Science and Technology, Seoul, KR;
Abstract
This disclosure relates to a technology for grasping an object while adjusting a grasping force according to stiffness of the object measured by a tactile sensor module, especially to a robot-hand, which includes a tactile sensor module for measuring a normal force applied when grasping an object, a phalange sensor module having an actuator to generate a driving force and configured to measure a rotational displacement of a motor, and a hand back control unit for operating the actuator by generating a desired displacement signal to control a grasping force so that a grasping motion is stably and accurately achieved by applying a minimum grasping force to soft object with no sliding and minimized deformation, wherein the desired displacement signal is generated based on stiffness which is calculated from the normal force data and the rotational displacement data.