GRIP DEVICE AND CONTROLLING METHOD THEREOF
    52.
    发明公开

    公开(公告)号:US20230330850A1

    公开(公告)日:2023-10-19

    申请号:US18210955

    申请日:2023-06-16

    CPC classification number: B25J9/1633 B25J15/08

    Abstract: A grip device includes a first finger with a groove on a gripping surface thereof; a second finger facing the first finger; a middle member inserted into the groove of the first finger and covering the gripping surface; a plurality of mono-axial force sensors each positioned on one of a plurality of inclined surfaces of the groove and configured to detect a force applied to the middle member; a driving motor configured to adjust a gripping force of the first finger and the second finger; and a processor. The processor is configured to calculate a force vector applied to the middle member based on sensing values received from the force sensors, and, based on a force component of the force vector in a direction parallel to a surface of the middle member being less than a preset value, apply a greater gripping force by the first and second fingers.

Patent Agency Ranking