A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.

A flexible robot end effector includes the end effector including a mounting assembly and a flexible finger, one end of the flexible finger configured to mount at one side of the mounting assembly; the flexible finger including a protective layer and a plurality of holding mechanisms; the flexible finger further including a base, and two opposite sides of the base respectively connected with the holding mechanism and a pneumatic device; the protective layer configured to be sleeved on both outsides of the holding mechanism and the base so that an airtight chamber is formed among the base, the holding mechanism and the protective layer; when the air is blown into the airtight chamber by the pneumatic device, the flexible fingers inflated, and a gap between the two adjacent holding mechanisms gradually increasing.

A flexible robot end effector includes the end effector including a mounting assembly and a flexible finger, one end of the flexible finger configured to mount at one side of the mounting assembly; the flexible finger including a protective layer and a plurality of holding mechanisms; the flexible finger further including a base, and two opposite sides of the base respectively connected with the holding mechanism and a pneumatic device; the protective layer configured to be sleeved on both outsides of the holding mechanism and the base so that an airtight chamber is formed among the base, the holding mechanism and the protective layer; when the air is blown into the airtight chamber by the pneumatic device, the flexible fingers inflated, and a gap between the two adjacent holding mechanisms gradually increasing.

The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point. To adjust the position of the contact point of the grasped object, the acting point of the contact force and the direction of the acting force can be selected according to situations, so that the grasping is more accurate and reliable. At the same time, the angle between the finger knuckle and the grasped object can be adjusted to adapt to a larger change in size of the grasped object. In the disclosure, a pneumatic system is large in gain and the pneumatic bellows muscles are light, so that the response is quick and the buffering effect is good.

The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point. To adjust the position of the contact point of the grasped object, the acting point of the contact force and the direction of the acting force can be selected according to situations, so that the grasping is more accurate and reliable. At the same time, the angle between the finger knuckle and the grasped object can be adjusted to adapt to a larger change in size of the grasped object. In the disclosure, a pneumatic system is large in gain and the pneumatic bellows muscles are light, so that the response is quick and the buffering effect is good.

A method for loading a container with packages, using a device having at least one guide. At least one hand element is displaceable in the longitudinal direction of the guide, and is provided on the at least one guide. The hand element has a plurality of finger elements. The finger elements have at least two flexible flank elements extending together from one end of the finger element to the opposing end. The at least two flexible flank elements of the finger elements are flexibly connected together via a plurality of webs. The finger elements may be adjusted from at least one curved position into at least one extended position and back. The at least one hand element takes packages one after the other, and deposits the packages into the container in a stack. The hand element is displaced along the guide between the deposit of two successive packages.

A method for loading a container with packages, using a device having at least one guide. At least one hand element is displaceable in the longitudinal direction of the guide, and is provided on the at least one guide. The hand element has a plurality of finger elements. The finger elements have at least two flexible flank elements extending together from one end of the finger element to the opposing end. The at least two flexible flank elements of the finger elements are flexibly connected together via a plurality of webs. The finger elements may be adjusted from at least one curved position into at least one extended position and back. The at least one hand element takes packages one after the other, and deposits the packages into the container in a stack. The hand element is displaced along the guide between the deposit of two successive packages.

Systems and methods for grasping and manipulating objects are presented. The systems include a first actuator configured to either contract, expand, or rotate about a first axis. In some cases the actuator acts to deform a structure that is configured to grasp an object. In other cases the actuator directly interacts with an object to grasp the object or aid in the grasping of the object. The entire system may be connected to a robotic arm or other system to allow for picking and placing of objects. The first actuator includes a compliant shell defining an enclosed cavity, a dielectric fluid disposed within the enclosed cavity, a first electrode disposed on a first side of the compliant shell, and a second electrode disposed on a second side of the compliant shell opposite the first side.

Systems and methods for grasping and manipulating objects are presented. The systems include a first actuator configured to either contract, expand, or rotate about a first axis. In some cases the actuator acts to deform a structure that is configured to grasp an object. In other cases the actuator directly interacts with an object to grasp the object or aid in the grasping of the object. The entire system may be connected to a robotic arm or other system to allow for picking and placing of objects. The first actuator includes a compliant shell defining an enclosed cavity, a dielectric fluid disposed within the enclosed cavity, a first electrode disposed on a first side of the compliant shell, and a second electrode disposed on a second side of the compliant shell opposite the first side.

The present invention relates to a robotic maneuvering system for maneuvering objects by means of an adhesive attachment. The robotic maneuvering system comprises a gripper finger connected to a gripper arm. The gripper finger is configured to grasp an object to be manipulated, by means of an adhesive contact. The gripper arm maneuvers the object to a desired location and the gripper finger releases the object at the desired location. The present invention also relates to a corresponding method.