FLEXIBLE SENSOR, SOFT GRIPPER, FORM DETERMINATION SYSTEM, METHOD OF DETECTING GRIPPING CHARACTERISTICS, AND PROGRAM FOR DETECTING GRIPPING CHARACTERISTICS

• Main Authors: SUGINO TAKUJI, HIRAI SHINICHI, MATSUNO TAKAHIRO, MONOBE HIROTATSU, HORIUCHI TETSUYA
• Format: Patent
• Language: English; Japanese
• Published: 06.06.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TESTING; TRANSPORTING

To provide a flexible sensor capable of appropriately detecting gripping characteristics of a soft gripper, and to provide a soft gripper, form determination system, method of detecting gripping characteristics, and program for detecting gripping characteristics.SOLUTION: A flexible sensor disclosed herein is configured to detect gripping characteristics of a soft gripper capable of gripping an object on the basis of voltage changes. The soft gripper comprises a gripping section configured to be deformable into a first form that disables gripping of an object and a second form that is curved to enable gripping of an object. The flexible sensor is configured to be attachable to the soft gripper to enable detection of the first form and the second form.SELECTED DRAWING: Figure 1 【課題】ソフトグリッパの把持特性を好適に検出できるフレキシブルセンサ、ソフトグリッパ、形態判定システム、把持特性を検出する方法、および、把持特性を検出するプログラムを提供する。【解決手段】フレキシブルセンサは、物体を把持可能に構成されるソフトグリッパの把持特性を電圧の変化に基づいて検出する。ソフトグリッパは、物体を把持しない第１形態と、物体を把持するように湾曲する第２形態とに変形可能である把持部を有する。フレキシブルセンサは、第１形態および第２形態を検出できるように、ソフトグリッパに取り付け可能に構成される。【選択図】図１