公开(公告)号：US20210394360A1

公开(公告)日：2021-12-23

申请号：US17103019

申请日：2020-11-24

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Donghyun HWANG ,  Sungwoo PARK

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B25J15/02

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.

公开(公告)号：US20210068858A1

公开(公告)日：2021-03-11

申请号：US17006446

申请日：2020-08-28

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Donghyun HWANG ,  Sungwoo PARK ,  Namseon JANG ,  Yong Seok IHN ,  Jinwoo JEONG ,  Keehoon KIM ,  Sang Rok OH ,  Sungwook YANG ,  Sehyuk YIM

IPC: A61B17/30

Abstract: Provided is a forceps driving apparatus including a body, a gripper installed to be received in the body and formed to be open and closed, an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation, an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member, an actuator connected to the other side of the opening and closing member to rotate the opening and closing member by contraction or extension, and a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member.