The present disclosure comprises a joining and/or inspection unit for joining and/or inspecting a component having a base and a plurality of joining and/or inspection elements, wherein the joining and/or inspection elements are arranged at the base such that they each establish a connection and/or carry out an inspection at a joining and/or inspection point of the component. The joining and/or inspection elements can be arranged at the base via an adjustment arrangement that allows an adjustment of the spacing of the joining and/or inspection elements from one another, with the adjustment arrangement preferably comprising a first and second adjustment axle via which the spacing of the joining and/or inspection elements from one another is adjustable in a first and second direction.

Candidate grasping models of a deformable object are applied to generate a simulation of a response of the deformable object to the grasping model. From the simulation, grasp performance metrics for stress, deformation controllability, and instability of the response to the grasping model are obtained, and the grasp performance metrics are correlated with robotic grasp features.

A gripper includes at least one first gripper finger adjustably mounted to a gripper main body by a gripping finger mount, at least one second gripper finger cooperating with the first gripper finger, and a motor-drivable transmission configured to adjust the at least one first gripper finger relative to the gripper main body and the at least one second gripper finger such that a clamping force is generated, whereby an article can be held in a clamped manner by the gripper. The transmission includes a first transmission member connected to the first gripper finger, and a second transmission member mounted on the gripper main body by a transmission-member bearing arrangement having a first transmission member bearing configured to absorb the transmission-bearing reaction force that acts in a direction of the clamping force. The transmission-member bearing arrangement includes a sensor configured to sense the transmission-bearing reaction force.

A robot hand according to an embodiment of the present technology includes a finger unit and a guide member. The finger unit is capable of holding a flexible linear member such that the linear member is slidable in a longitudinal direction of the linear member, the linear member being a linear member whose one end is fixed. The guide member is mounted on the finger unit, and includes a guide section that guides the linear member to a predetermined position.

An object of the present invention is to grip a bag-shaped object in which a fluid is sealed with stability in a gripping system having a hand mechanism. A tip end portion of a press-in finger portion of the hand mechanism is brought into contact with the bag-shaped object and pressed into the bag-shaped object, and subsequently, when the pressure detected by a pressure detection unit provided on the single press-in finger portion or the pressure detected by any one of the pressure detection units provided respectively on the press-in finger portions reaches or exceeds a predetermined pressure, a gripping operation, which is an operation for gripping the bag-shaped object using at least two finger portions among the plurality of finger portions of the hand mechanism, is executed in a state where the press-in finger portion is pressed into the bag-shaped object.

A multimodal sensing architecture utilizes an array of single sensor or multi-sensor groups (superpixels) to facilitate advanced object-manipulation and recognition tasks performed by mechanical end effectors in robotic systems. The single-sensors/superpixels are spatially arrayed over contact surfaces of the end effector fingers and include, e.g., pressure sensors and vibration sensors that facilitate the simultaneous detection of both static and dynamic events occurring on the end effector, and optionally include proximity sensors and/or temperature sensors. A readout circuit receives the sensor data from the superpixels and transmits the sensor data onto a shared sensor data bus. An optional multimodal control generator receives and processes the sensor data and generates multimodal control signals that cause the robot system's control circuit to adjust control operations performed by the end effector or other portions of the robot mechanism and when the sensor data indicates non-standard operating conditions.

Sensing systems as well as their methods of operation and training are described. In some embodiments, a sensing system may include a compliant contact pad configured to contact an environment, and a plurality of sensors configured to detect a physical parameter associated with deformation of the compliant contact pad. A processor configured to receive signals from the plurality of sensors may determine a magnitude and direction of a force applied to the compliant contact pad.

Force sensors capable of measuring only forces in xyz coordinate axis directions are installed in fingertips, respectively, and forces and moment forces acting on a robot hand are calculated based on positional information about each fingertip. This structure eliminates the need for using large force sensors to thereby enable downsizing of each fingertip, and enables detection of loads and moment forces acting on the robot hand.

Toolable modules, each having a set of functions and capabilities which are configurable to function cooperatively, to create a set of Robotic arms. Each finger of the module enables a specific task to be accomplished, providing multiple degrees of movements, enabling the Robotic arms to be deployed in highly precise applications and capable of responding to complex tasks. In coordination with an imaging system and a control system the functionality of the Robotic arms are programmable, scalable and configurable in addition to being able to communicate with the external interfaces in a predetermined protocol, thereby providing “Plug and Play” functionality.

A robot hand includes grip portions for gripping an article, grip drive mechanisms for moving the grip portions, and a control device for controlling the drive of the grip drive mechanisms. Then, the control device controls the drive of the grip drive mechanisms to start gripping operation with a first force for a force of gripping an article by the grip portions, and then switches the force of gripping an article by the grip portions to a second force.