Title:
HAND MECHANISM AND GRIPPING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/031502
Kind Code:
A1
Abstract:
A configuration in which a plurality of pressure sensors are positioned in each finger part of a hand mechanism, the configuration being capable of more accurately ascertaining the state of contact between a finger part and an object, the location on the finger part of contact with the object, and the like. A hand mechanism which is equipped with a plurality of finger parts and grips an object using the finger parts, wherein the outer surface of each finger part has a plurality of pressure sensors attached thereto, and two adjacent pressure sensors among the plurality of pressure sensors are positioned so as to adjoin one another. In addition, a flexible cover formed from a flexible film-shaped member for covering the plurality of pressure sensors is attached to each finger part. Such a configuration makes it possible to accurately detect contact between a finger part and an object even when the object contacts a dead zone formed between the sensor elements of two adjoining pressure sensors.
Inventors:
ENDO YOSHIMASA (JP)
Application Number:
PCT/JP2018/029612
Publication Date:
February 14, 2019
Filing Date:
August 07, 2018
Export Citation:
Assignee:
THK CO LTD (JP)
International Classes:
B25J15/08
Foreign References:
| JPS63103955U | 1988-07-06 | |||
| JP2016203264A | 2016-12-08 | |||
| JP2009125884A | 2009-06-11 | |||
| JP2015112662A | 2015-06-22 | |||
| JP2005349492A | 2005-12-22 | |||
| JP2006136983A | 2006-06-01 | |||
| JP2012215533A | 2012-11-08 | |||
| JPH05131387A | 1993-05-28 |
Attorney, Agent or Firm:
HIRAKAWA, Akira et al. (JP)
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