CN116810834A - Humanoid mechanical artificial hand - Google Patents
Humanoid mechanical artificial hand Download PDFInfo
- Publication number
- CN116810834A CN116810834A CN202310921854.2A CN202310921854A CN116810834A CN 116810834 A CN116810834 A CN 116810834A CN 202310921854 A CN202310921854 A CN 202310921854A CN 116810834 A CN116810834 A CN 116810834A
- Authority
- CN
- China
- Prior art keywords
- finger
- fingertip
- control board
- palm
- hand control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000012780 transparent material Substances 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 12
- 229920003023 plastic Polymers 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 229910000861 Mg alloy Inorganic materials 0.000 description 2
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention provides a humanoid mechanical artificial hand, which relates to the technical field of mechanical hands and comprises five finger structures and a palm structure, wherein a artificial hand control board is arranged in the palm structure, one side, facing towards the palm center, of a fingertip of the finger structure is made of transparent materials, a proximity sensor is arranged in the fingertip, the proximity sensor collects distance information between the surface of the fingertip and a target object, the proximity sensor is electrically connected with the artificial hand control board, and the artificial hand control board is used for controlling the finger structure to rotate relative to the palm structure so as to enable the distance information collected by the five proximity sensors to be equal. According to the invention, the proximity sensor is arranged in the fingertip of the finger structure, the distance between the fingertip of the finger and the fingertip of the target object is detected, the position of five fingers can be adjusted by the artificial hand control board according to the distance information detected by the proximity sensor, so that the five fingers can be ensured to simultaneously grasp the target object, the grasping is firm, the target object is prevented from falling off, and the synchronism of the fingers of the humanoid mechanical hand is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a humanoid mechanical artificial hand.
Background
The manipulator is widely used in industry, life and medical treatment, for example, in industry, a workpiece, an article and the like need to be grabbed under high-risk severe environments, articles with long distances need to be grabbed through the manipulator in life, and in medical industry, some handicapped people need the manipulator to assist grabbing required articles, but the finger synchronism of the existing manipulator is poor, and when grabbing articles, the situation that the fingers cannot contact with target articles at the same time, so that the target articles fall exists.
Disclosure of Invention
The invention aims to solve the problem of improving the synchronism of the fingers of the manipulator.
The invention provides a humanoid mechanical artificial hand, which comprises five finger structures and a palm structure, wherein a artificial hand control board is arranged in the palm structure, one side, facing towards the palm center, of a fingertip of any finger structure is made of transparent materials, an proximity sensor is arranged in the fingertip, the proximity sensor is an infrared proximity sensor, the proximity sensor is used for collecting distance information between the surface of the fingertip and a target object, the proximity sensor is electrically connected with the artificial hand control board, and the artificial hand control board is used for controlling the finger structure to rotate relative to the palm structure so as to enable the distance information collected by the five proximity sensors to be equal.
Optionally, any of the finger structures further comprises a position sensor for detecting an angle of rotation of the finger structure relative to the palm structure.
Optionally, any of the finger structures further includes a base joint circuit board, the base joint circuit board is electrically connected with the position sensor and the artificial hand control board, and the base joint circuit board is used for converting an analog signal output by the position sensor into a digital signal and transmitting the digital signal to the artificial hand control board.
Optionally, the position sensor is connected with the base joint circuit board, the base joint circuit board is connected with the artificial hand control board, and the proximity sensor is connected with the artificial hand control board through PFC flexible wires.
Optionally, any of the finger structures further comprises a motor electrically connected to the artificial hand control board, the motor being configured to drive the finger structure to rotate relative to the palm structure.
Optionally, the humanoid mechanical artificial hand further comprises a wrist structure, and the palm structure is rotatably connected with the wrist structure.
Optionally, an insulating spacer is arranged at the joint of the proximity sensor and the fingertip.
Optionally, the outer surface of the palm structure, and the outer surface of the portion of the finger structure other than the fingertip transparent material are made of an almag material.
Optionally, the transparent material is a transparent plastic material, and a friction coefficient between the transparent plastic material and steel is 0.6.
Optionally, the motor is a self-locking motor.
Compared with the prior art, the humanoid mechanical artificial hand has the beneficial effects that:
according to the invention, the proximity sensor is arranged in the finger tip of the finger structure, the infrared proximity sensor is selected, the surface of the finger tip facing the palm direction is made of transparent materials, the infrared proximity sensor emits light rays which pass through the transparent materials and irradiate on the target object, the light rays are reflected back to the proximity sensor through the target object, the transparent materials are convenient for the proximity sensor to detect the distance between the finger tip of the finger and the finger tip of the target object, the distance information detected by the proximity sensor can be transmitted to the artificial hand control board, the artificial hand control board can control the finger structure to rotate relative to the palm structure, the positions of the finger tips are regulated, the artificial hand control board can respectively regulate the positions of the finger tips according to the distance information detected by the proximity sensors in the five fingers, the proximity sensor can detect the positions of the finger tips in real time until the distances between the finger tips of the five fingers and the target object are equal, the five fingers can be ensured to grasp the target object at the same time, the object can be firmly grasped, the finger tips of the artificial hand can be prevented from falling off, and the synchronization of the artificial hand is improved.
Drawings
Fig. 1 is a schematic structural diagram of a humanoid mechanical artificial hand according to an embodiment of the invention.
Reference numerals illustrate:
1-finger structure; 11-fingertip; 12-proximity sensor; 13-a position sensor; a 14-base joint circuit board; 15-PFC flexible wire; 2-palm structure; 21-artificial hand control panel.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be noted that, in the description of the present invention, the directions or positional relationships indicated by "upper", "lower", "left", "right", "top", "bottom", "front", "rear", "inner" and "outer", etc. are used for convenience of describing the present invention only based on the directions or positional relationships shown in the drawings, and are not meant to indicate or imply that the apparatus must have a specific orientation, be configured and manipulated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Moreover, while the invention has been described with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways not otherwise described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
In order to solve the above problems, as shown in fig. 1, the present invention provides a humanoid mechanical artificial hand, which comprises five finger structures 1 and a palm structure 2, wherein a artificial hand control board 21 is disposed in the palm structure 2, one side of a fingertip 11 of any finger structure 1 facing to the palm center is made of transparent material, an proximity sensor 12 is disposed in the fingertip 11, the proximity sensor 12 is an infrared proximity sensor, the proximity sensor 12 is used for collecting distance information between the surface of the fingertip 11 and a target object, the proximity sensor 12 is electrically connected with the artificial hand control board 21, and the artificial hand control board 21 is used for controlling the finger structure 1 to rotate relative to the palm structure 2 so as to equalize the distance information collected by the five proximity sensors 12.
In this embodiment, the proximity sensor 12 is disposed in the fingertip 11 of the finger structure 1, the proximity sensor 12 is an infrared proximity sensor, the surfaces of the fingertips 11 facing the palm direction are made of transparent materials, the light rays emitted by the infrared proximity sensor penetrate through the transparent materials and irradiate onto the target object, the light rays are reflected back to the proximity sensor 12 through the target object, the transparent materials facilitate the proximity sensor 12 to detect the distance between the fingertips 11 and the target object, the distance information detected by the proximity sensor 12 can be transmitted to the artificial hand control board 21, the artificial hand control board 21 can control the finger structure 1 to rotate relative to the palm structure 2, the positions of the fingertips 11 are adjusted, the artificial hand control board 21 can respectively adjust the positions of the five fingers according to the distance information detected by the proximity sensor 12 in the five fingers, the positions of the finger fingertips 11 can be detected in real time until the distances between the fingertips 11 and the target object are guaranteed, the object can be gripped synchronously, and the human-machine like can be prevented from falling off the target object.
Specifically, the distance information detected by the five finger proximity sensors 12 is transmitted to the artificial hand control board 21 through digital signals, the artificial hand control board 21 processes the signals to obtain the distance between the corresponding fingertip 11 and the surface of the target object, the fingertip 11 with the closest distance is used as a motion reference, the fingertip 11 with the farther distance is accelerated to rotate until the distance is consistent with the distance of the fingertip 11 with the closest distance, the proximity sensor 12 can be connected in the fingertip 11 through screws, and compared with the traditional distance sensor, the proximity sensor 12 has small size, low energy consumption and high short-distance measurement precision and can be installed in a narrow space of the fingertip 11.
Optionally, as shown in fig. 1, any of the finger structures 1 further comprises a position sensor 13, the position sensor 13 being configured to detect a rotation angle of the finger structure 1 relative to the palm structure 2.
In this embodiment, by arranging the position sensor 13 in the finger structure 1, the position sensor 13 can detect the rotation angle of the finger structure 1 relative to the palm structure 2, and compare the rotation angle of the finger structure 1 relative to the palm structure 2 with the change condition of the distance between the fingertip 11 of the finger structure 1 and the target object, for example, the greater the rotation angle is, the greater the movement distance of the fingertip 11 is, so as to be convenient for detecting the movement condition of five fingers, and when the distances detected by the proximity sensor 12 are the same, the relation between the movement distance of the fingertip 11 and the rotation angle of the finger structure 1 is detected, so that the movement distance of the fingertip 11 can be rechecked, the five fingers can be conveniently rotated to the position where the fingertip 11 is the same as the distance of the target object, and the synchronization rate of the fingers is improved.
Optionally, as shown in fig. 1, any of the finger structures 1 further includes a base joint circuit board 14, where the base joint circuit board 14 is electrically connected to the position sensor 13 and the artificial hand control board 21, and the base joint circuit board 14 is configured to convert an analog signal output by the position sensor 13 into a digital signal and send the digital signal to the artificial hand control board 21.
In this embodiment, the base joint circuit board 14 is disposed in the finger structure 1, the base joint circuit board 14 is electrically connected with the artificial hand control board 21 and the position sensor 13, the position sensor 13 detects the rotation angle of the finger structure 1 based on the hall effect, the analog signal output by the position sensor 13 is firstly converted into the digital signal by the base joint circuit board 14 and then is output to the artificial hand control board 21, the actual position of the fingertip 11 can be calculated, the target position of the fingertip 11 calculated by using the distance information acquired by the proximity sensor 12 is compared and adjusted with the actual position of the fingertip 11 calculated by using the position sensor 13, so that the feedback control of the finger motion is realized, and the accuracy of the distance between each fingertip 11 and the target object can be effectively improved.
Alternatively, as shown in fig. 1, the position sensor 13 is connected to the base joint circuit board 14, the base joint circuit board 14 is connected to the prosthetic hand control board 21, and the proximity sensor 12 is connected to the prosthetic hand control board 21 through PFC flexible lines 15.
In this embodiment, the PFC flexible line 15 is provided to connect the position sensor 13 and the base joint circuit board 14, the base joint circuit board 14 and the artificial hand control board 21, and the proximity sensor 12 and the artificial hand control board 21, and FPC is abbreviated as Flexible Printed Circuit, which has high wiring density, light weight, and thin thickness, and can be installed in the gap between the finger structure 1 and the palm structure 2, so that it is not easy to damage.
Optionally, any of the finger structures 1 further comprises a motor electrically connected to the artificial hand control board 21, the motor being configured to drive the finger structure 1 to rotate relative to the palm structure 2.
In this embodiment, by providing a motor, the motor is electrically connected with the artificial hand control board 21, the artificial hand control board 21 can control the motor to rotate, the motor is in driving connection with the finger structure 1, and the motor can drive the finger structure 1 to rotate relative to the palm structure 2, so that the finger structure 1 can be conveniently moved to the target position.
Optionally, the humanoid mechanical artificial hand further comprises a wrist structure, and the palm structure 2 is rotatably connected with the wrist structure.
In this embodiment, by setting the wrist structure, the palm structure 2 is rotatably connected with the wrist structure, so that the relative posture relationship between the humanoid mechanical artificial hand and the target object can be adjusted, and the target objects in different positions and different shapes can be better grasped.
Optionally, an insulating pad is disposed at the connection between the proximity sensor 12 and the fingertip 11.
In this embodiment, by providing an insulating spacer at the junction of the proximity sensor 12 and the fingertip 11, the insulating spacer can prevent the proximity sensor 12 from making contact with the finger housing to cause a short circuit.
Alternatively, the outer surface of the palm structure 2, and the outer surface of the portion of the finger structure 1 other than the fingertip 11 transparent material, are made of an almag material.
In the embodiment, the palm structure 2 and the finger structure 1 are made of aluminum magnesium alloy except for the outer shell part of the fingertip 11, and the aluminum magnesium alloy has small density under the condition of meeting the rigidity requirement, so that the weight of the mechanical artificial hand is reduced, the motor pressure is reduced, and the movement of the humanoid mechanical artificial hand is facilitated.
Optionally, the transparent material is a transparent plastic material, and a friction coefficient between the transparent plastic material and steel is 0.6.
In this embodiment, the transparent portion of the fingertip 11 is made of plastic material, so that the dynamic friction coefficient between the transparent plastic material and the steel material object can reach 0.6, the friction force is increased, the target object can be conveniently grasped, and the target object is prevented from falling off.
Optionally, the motor is a self-locking motor.
In this embodiment, by setting the motor to be a self-locking motor, when the fingertip 11 completely contacts the target object, the signal of the proximity sensor 12 is not changed any more, at this time, the motor will be self-locked, preventing the target object from falling off due to the rotation of the finger, and improving the firmness of grabbing the target object.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The utility model provides a humanoid mechanical artificial hand, its characterized in that includes five finger structures (1) and palm structure (2), be equipped with artificial hand control panel (21) in palm structure (2), arbitrary finger structure (1) fingertip (11) are towards one side of palm center by transparent material, be equipped with in fingertip (11) and approach sense sensor (12), approach sense sensor (12) are infrared approach sense sensor, approach sense sensor (12) are used for gathering the distance information between fingertip (11) surface and the target object, approach sense sensor (12) with artificial hand control panel (21) electricity is connected, artificial hand control panel (21) are used for controlling finger structure (1) are relative palm structure (2) rotate, so that five approach sense sensor (12) gathers the distance information equals.
2. The humanoid mechanical prosthetic hand according to claim 1, characterized in that any of the finger structures (1) further comprises a position sensor (13), the position sensor (13) being adapted to detect the angle of rotation of the finger structure (1) relative to the palm structure (2).
3. The humanoid mechanical prosthetic hand according to claim 2, characterized in that any of the finger structures (1) further comprises a base joint circuit board (14), the base joint circuit board (14) is electrically connected with the position sensor (13) and the prosthetic hand control board (21), and the base joint circuit board (14) is used for converting an analog signal output by the position sensor (13) into a digital signal and transmitting the digital signal to the prosthetic hand control board (21).
4. A humanoid mechanical prosthetic hand according to claim 3, characterized in that the position sensor (13) and the base joint circuit board (14), the base joint circuit board (14) and the prosthetic hand control board (21), and the proximity sensor (12) and the prosthetic hand control board (21) are all connected by PFC flexible lines (15).
5. The humanoid mechanical prosthetic hand according to claim 1, characterized in that any of the finger structures (1) further comprises a motor electrically connected to the prosthetic hand control board (21), the motor being adapted to drive the finger structure (1) in rotation with respect to the palm structure (2).
6. The humanoid mechanical prosthetic hand of claim 1, further comprising a wrist structure, the palm structure (2) being rotatably connected to the wrist structure.
7. The humanoid mechanical prosthetic hand according to claim 1, characterized in that an insulating pad is provided at the junction of the proximity sensor (12) and the fingertip (11).
8. The humanoid mechanical prosthetic hand according to claim 1, characterized in that the outer surface of the palm structure (2) and the outer surface of the part of the finger structure (1) excluding the fingertip (11) transparent material are made of an almag material.
9. The humanoid mechanical prosthetic hand of claim 1, wherein the transparent material is a transparent plastic material, and the coefficient of friction between the transparent plastic material and steel is 0.6.
10. The humanoid mechanical prosthetic hand of claim 5 wherein the motor is a self-locking motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310921854.2A CN116810834A (en) | 2023-07-25 | 2023-07-25 | Humanoid mechanical artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310921854.2A CN116810834A (en) | 2023-07-25 | 2023-07-25 | Humanoid mechanical artificial hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116810834A true CN116810834A (en) | 2023-09-29 |
Family
ID=88124193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310921854.2A Pending CN116810834A (en) | 2023-07-25 | 2023-07-25 | Humanoid mechanical artificial hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116810834A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206335561U (en) * | 2016-11-23 | 2017-07-18 | 上海广成涂装技术工程有限公司 | A kind of control system of aerial operation machine hand uniform motion |
| CN107186756A (en) * | 2017-06-16 | 2017-09-22 | 北京理工大学 | It is a kind of for five-needle pines blister rust adaptively capture in advance close to feel Sensor Network |
| CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN216247169U (en) * | 2021-11-15 | 2022-04-08 | 乐金显示光电科技(中国)有限公司 | Working condition detection system of manipulator |
| US20220409402A1 (en) * | 2021-06-28 | 2022-12-29 | Alt-Bionics, Inc. | Modular prosthetic hand system |
-
2023
- 2023-07-25 CN CN202310921854.2A patent/CN116810834A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206335561U (en) * | 2016-11-23 | 2017-07-18 | 上海广成涂装技术工程有限公司 | A kind of control system of aerial operation machine hand uniform motion |
| CN107186756A (en) * | 2017-06-16 | 2017-09-22 | 北京理工大学 | It is a kind of for five-needle pines blister rust adaptively capture in advance close to feel Sensor Network |
| CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| US20220409402A1 (en) * | 2021-06-28 | 2022-12-29 | Alt-Bionics, Inc. | Modular prosthetic hand system |
| CN216247169U (en) * | 2021-11-15 | 2022-04-08 | 乐金显示光电科技(中国)有限公司 | Working condition detection system of manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Koyama et al. | High-speed high-precision proximity sensor for detection of tilt, distance, and contact | |
| JP5089774B2 (en) | Combined sensor and robot hand | |
| JP3630712B2 (en) | Gesture input method and apparatus | |
| JP3409160B2 (en) | Grasping data input device | |
| CA2119769A1 (en) | Method and system for point by point measurement of spatial coordinates | |
| WO2012162000A3 (en) | Haptic device for manipulator and vehicle control | |
| US20140316308A1 (en) | Upper limb rehabilitation robot for meal assistance or meal rehabilitation training and method thereof | |
| Nozu et al. | Robotic bolt insertion and tightening based on in-hand object localization and force sensing | |
| Wilson et al. | Design of a fully actuated robotic hand with multiple gelsight tactile sensors | |
| CN109834719A (en) | A method of measurement humanoid dexterous finger finger tip stress | |
| JPH08511111A (en) | Attitude detection improvements | |
| CN109710082A (en) | A kind of data glove | |
| CN116810834A (en) | Humanoid mechanical artificial hand | |
| Chen et al. | i-hand: An intelligent robotic hand for fast and accurate assembly in electronic manufacturing | |
| CN112338939B (en) | Six-dimensional operating handle for mechanical arm control | |
| Yang et al. | Control of myoelectric prosthetic hand with a novel proximity-tactile sensor | |
| CN206140521U (en) | Robot | |
| US20200376674A1 (en) | Sensor module and robot system | |
| WO2017190485A1 (en) | Sensor based on friction power generation, apparatus for collecting physiological signal of human body, and robot tactile perception system | |
| JP2001265522A (en) | Sensor to be mounted on nail | |
| CN215471198U (en) | Mechanical arm end effector, mechanical arm and robot | |
| CN215660318U (en) | Omnidirectional touch manipulator | |
| JPH03281188A (en) | Grasping device for robot having finger having rotation body | |
| Lam et al. | Human finger inspired grasping structure using tactile sensing array with single type optoelectronic sensor | |
| Suwanratchatamanee et al. | A simple tactile sensor system for robot manipulator and object edge shape recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |