A gripping device for handling sample containers is presented. The sample containers are closed by caps of a given cap type or are not closed by caps. The gripping device comprises a number of fingers configured to collectively cause gripping of a sample container, a tactile sensor device arranged at at least one of the fingers and configured to sample a longitudinal profile of the sample container and of the cap, if any, being gripped, and a control device coupled to the tactile sensor device. The control device determines if the sample container is closed by a cap or not closed by a cap based on the sampled longitudinal profile.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

A system for lifting a deformable object includes a support structure, two pairs of opposing arms coupled to the support structure, and a fluid power driver operatively coupled in parallel to the pairs of opposing arms via a fluid power system. Each of the arms includes inclined surfaces configured to contact the deformable object. When the support structure is positioned above the deformable object on the surface, the fluid power driver is configured to increase pressure in the fluid power system until the pressure in the fluid power system reaches a predetermined level such that (i) each of the pairs of opposing arms independently closes a distance until the inclined surfaces are in contact with sides of the deformable object, and (ii) the pairs of opposing arms exert a compressive force on the deformable object that causes the deformable object to slide up one or more of the inclined surfaces.

A system for lifting a deformable object includes a support structure, two pairs of opposing arms coupled to the support structure, and a fluid power driver operatively coupled in parallel to the pairs of opposing arms via a fluid power system. Each of the arms includes inclined surfaces configured to contact the deformable object. When the support structure is positioned above the deformable object on the surface, the fluid power driver is configured to increase pressure in the fluid power system until the pressure in the fluid power system reaches a predetermined level such that (i) each of the pairs of opposing arms independently closes a distance until the inclined surfaces are in contact with sides of the deformable object, and (ii) the pairs of opposing arms exert a compressive force on the deformable object that causes the deformable object to slide up one or more of the inclined surfaces.

A self-propelled gripper is installed on a robotic arm. The robotic arm includes a body and a tip axis. The self-propelled gripper includes a housing, a rotation element, a moving element, and at least one claw body. The housing is fixed on the body. The rotation element is disposed in the housing and secured with the tip axis. The moving element is movably disposed in the housing and is connected to the rotation element. The moving element includes at least one slot. The claw body is pivoted on the housing and partially extends in the corresponding slot. When the rotation element rotates along with the tip axis, the rotation element drives the moving element to process a linear motion along a rotation central line so that the claw body pivotally rotates on the housing.

A robot hand includes at least one finger. The finger includes a first member configured to come into contact with an object to apply a gripping force to the object, and a second member movable with respect to the first member to come into contact with the object.

A gripping device having a holder and two gripper units. Each of the gripper units has a base body and two base jaws. The base jaws can be moved synchronously in opposite directions relative to the respective base body. The gripper units are arranged side by side on the holder so that the base jaws of both gripper units can be moved parallel to a common gripper plane. The gripping device is designed as a single gripper in that only a first gripper finger is attached to each of the two outer base jaws. It can very easily be converted to a double gripper by attaching two further gripper fingers to the inner base jaws, or by removing the first gripper fingers and attaching a second gripper finger to each of the four base jaws.

A gripper, an apparatus, and a method for assembling kits of sanitary products in an automated fashion are disclosed. The sanitary products are pre-loaded into containers including a plurality of independent housings for the sanitary products, each of the housings being configured to allow loading of a sanitary product therein and withdrawal of the sanitary product therefrom independently of the other housings, and the kit is assembled in batches on the gripper, and released by the latter into a package.