A vehicle or another object is grasped by a robotic arm of a handling system and caused to undergo one or more movements or manipulations resulting in a change of position, orientation, velocity or acceleration of the vehicle. Sensors provided in the robotic arm capture data representative of forces or torques imparted upon the robotic arm by the vehicle during or after the movement, or power or energy levels of vibration resulting from the movement. A signature representative of an inertial or vibratory response of the vehicle to the movement is derived based on the data. The signature may be compared to a baseline signature similarly derived for a vehicle that is known to be structurally and aerodynamically sound. If the signature is sufficiently similar to the baseline signature, the vehicle may also be determined to be structurally and aerodynamically sound.

A gripper jaw to grip an object, the jaw having a gripping surface with a recess therein, the jaw including: a tactile sensor with a sensor surface and a sensor thickness integrated in the recess in a z-direction, wherein the sensor includes: a base arranged lowermost in the recess, a sensor array arranged on the base with a plurality of taxels being sensitive elements arranged over an area of the base, the taxels configured to detect externally applied forces along the z-direction, wherein each taxel is reversibly deformable, and an elastic layer arranged above and overlapping the array, the layer acting as a mechanical low-pass filter and, in an unloaded state, having a layer thickness, wherein an outwardly facing surface of the layer forms a partial area of the sensor surface, wherein the sensor integrated in the recess projects with the sensor surface beyond the gripping surface in the z-direction.

A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.

A sensor unit includes at least three kinesthetic-sense sensors arranged along a plane, each including a first force-receiving part configured to receive an external force. The sensor unit includes a connecting member including a second force-receiving part configured to receive an external force, configured to transfer the external force received by the second force-receiving part to each first force-receiving part and connecting the first force-receiving parts with each other. The sensor unit includes an output unit configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part, received by the respective first force-receiving parts through the connecting member.

Provided are a device, a system and a method for acquiring a force information based on a bionic structure, including: a force information acquisition layer and a magnetic field signal acquisition chip; wherein a permanent magnet is embedded in the force information acquisition layer; wherein the force information acquisition layer has an elastic structure configured to generate a deformation corresponding to a first force information of a force after being subjected to the force, so that the permanent magnet moves with the deformation to generate a magnetic field signal corresponding to the force information; wherein the magnetic field signal acquisition chip is arranged in parallel with the force information acquisition layer, and is configured to acquire the magnetic field signal and convert the magnetic field signal into an electrical signal.

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.

The present technology relates to a control device, a control method, and a program capable of enabling predetermined motion while a gripped object is stabilized. A control device according to one aspect of the present technology is a device that detects a gripped state of an object gripped by a hand unit, and limits motion of a motion unit while the object is gripped by the hand unit, in accordance with a result of detection of the gripped state. The present technology can be applied to a device that controls a robot including a hand unit capable of gripping an object.

A sensor sheet includes unit sensor sheets configured to detect a physical property value at multiple points on a sensor layer, each unit sensor sheet including a first substrate, and an electrode layer and the sensor layer sequentially formed on one side of the first substrate; and a wiring substrate to which the unit sensor sheets are configured to be coupled, the wiring substrate including a second substrate, and a plurality of wirings provided on one side of the second substrate. One side of the wiring substrate and one side of each unit sensor sheet are facing each other. A conductive bonding member configured to electrically couple each unit sensor sheet and the wiring substrate with each other, is included between the electrode layer of each unit sensor sheet and at least one of the wirings of the wiring substrate.

The arithmetic device configured to perform a calculation for controlling a motion of a grasping apparatus that performs work involving a motion of sliding a grasped object includes: an acquisition unit configured to acquire a state variable indicating a state of the grasping apparatus during the work; a storage unit storing a learned neural network that has been learned by receiving a plurality of training data sets composed of a combination of the state variable acquired in advance and correct answer data corresponding to the state variable; an arithmetic unit configured to calculate a target value of each of various actuators related to the work of the grasping apparatus by inputting the state variable to the learned neural network read from the storage unit; and an output unit configured to output the target value of each of the various actuators to the grasping apparatus.

A grip device is provided. A grip device according to an embodiment of the present disclosure includes: a first finger; a second finger facing the first finger; a first link part including a first guide slot and supporting the first finger; a second link part supporting the second finger and including a second guide slot, intersecting the first link part; a hinge configured to move inside the first guide slot and second guide slot and connecting the first link part and the second link part at an intersection point of the first link part and second link part; a first actuator configured to adjust a distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator configured to move the hinge inside the first guide slot and second guide slot.