A robotic gripper includes a number of fingers useful to grasp a work piece. Each finger can include a visual-tactile contact pad useful to provide contact information related to the work piece when it is grasped by the fingers. The hand and fingers of the robotic gripper can include one or more optical elements such as mirrors/lenses/etc which aid in transmitting optical information from the pad to a camera. A single image sensor can be used to capture the optical data originating from the different pads. The different pads can be configured to project unique wavelengths to permit simultaneous imaging by the single image sensor. The optical paths can be configured to image on different portions of the image sensor to permit simultaneous imaging. In still other forms a shutter or similar device can be used to alternate projection of image data onto the image sensor from the different pads.

A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

A technique allows a robot gripping one of two objects to perform appropriate surface alignment between the two objects. A control apparatus for a robot includes a virtual sensor associated with a force sensor and set on a control plane for predetermined control to control a position of a first object relative to a second object by causing a first surface of the first object gripped by a gripper to abut on a second surface of the second object, and a controller that performs the predetermined control based on a detection result from the virtual sensor using a control point. The virtual sensor is projected on an imaginary line at a projection position between a predetermined contact point and the control point in an extending direction of the imaginary line on the control plane.

A robotic imaging system includes a camera configured to obtain one or more images of a target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence. A force-based sensor is configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera. The system includes a controller configured to receive the sensor data. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute a collision avoidance mode, including applying a respective correction force to modify the movement sequence when the camera and/or the robotic arm enter a predefined buffer zone.

Sensor devices including force sensors and robots incorporating the same are disclosed. In one embodiment, a sensor device includes an inflatable diaphragm operable to be disposed on a member, and an array of force sensors disposed about the inflatable diaphragm, wherein the array of force sensors provides one or more signals indicative of a location of contact between an object and the inflatable diaphragm.

Sensors having a deformable layer and an outer cover layer and robots incorporating the same are disclosed. In one embodiment, a sensor includes an inflatable diaphragm operable to be disposed on a member, wherein the inflatable diaphragm includes a port. The sensor further includes an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.

A tactile sensor includes a support member with a curved surface, a sensor body disposed on the support member, and a buffer member with which the sensor body is coated, the buffer member being configured to, in response to contacting an object, transfer a force applied from the object to the sensor body. The sensor body includes an insulating layer, multiple first resistive portions of which a longitudinal direction is directed to a first direction of each and that are juxtaposed on one side of the insulating layer, multiple second resistive portions of which a longitudinal direction of each is directed to a second direction intersecting with the first direction and that are juxtaposed on another side of the insulating layer, and a pair of electrodes provided at both end portions of each of the first resistive portions and the second resistive portions. The press force applied from the object is transferred to the sensor body, and at least one given resistive portion among the first resistive portions and the second resistive portions is pressed, so that a resistance value between a given pair of electrodes associated with the pressed at least one given resistive portion among the first resistive portions and the second resistive portions constantly varies in accordance with a magnitude of the press force.

A controller is provided for interactive classification and recognition of an object in a scene using tactile feedback. The controller includes an interface configured to transmit and receive the control, sensor signals from a robot arm, gripper signals from a gripper attached to the robot arm, tactile signals from sensors attached to the gripper and at least one vision sensor, a memory module to store robot control programs, and a classifier and recognition model, and a processor to generate control signals based on the control program and a grasp pose on the object, configured to control the robot arm to grasp the object with the gripper. Further, the processor is configured to compute a tactile feature representation from the tactile sensor signals and to repeat gripping the object and computing a tactile feature representation with the set of grasp poses, after which the processor, processes the ensemble of tactile features to learn a model which is utilized to classify or recognize the object as known or unknown.

To provide a control apparatus, a control system, a control method, and a robot by which a movement of the robot can be made a movement suitable for a surrounding environment. A control apparatus includes a control unit. The control unit controls an operation of a robot on the basis of a map of an operation region that reflects weighting of placement stability information of an object that forms the operation region of the robot, the map being generated using surrounding environment information of the robot.

In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.