ROBOT HAND AND HUMANOID ROBOT HAVING THE SAME

• US 20130173055A1
• Filed: 01/04/2013
• Published: 07/04/2013
• Est. Priority Date: 01/04/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: LEE, Kwang Kyu, KWON, Young Do, ROH, Kyung Shik, KIM, Ji Young
• Granted Patent: US 9,545,717 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: G05B 2219/39466 Hand, gripper, end effector of manipulator
• CPC Class Codes: G05B 2219/39497 Each finger can be controlled independently
• CPC Class Codes: G05B 2219/39546 Map human grasps to manipulator grasps
• CPC Class Codes: G05B 2219/40407 Master slave, master is replica of slave

Abstract

Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user'"'"'s fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user'"'"'s fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.

Claims

1. A control method of a robot hand comprising:

recognizing, by one or more processors, a pre-posture of a user'"'"'s fingers using a master device;

changing the shape of the robot hand according to the recognized pre-posture;

recognizing a gripping motion of the user'"'"'s fingers using the master device; and

executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.

2. The control method according to claim 1, wherein the change of the shape of the robot hand comprises changing the shape of an adducted and abducted joint of the robot hand.

3. The control method according to claim 2, wherein the change of the shape of the robot hand further comprises fixing the adducted and abducted joint of the robot hand at designated rigidity after the change of the shape of the adducted and abducted joint of the robot hand.

4. The control method according to claim 1, wherein the execution of the gripping motion of the robot hand comprises estimating a distance between the tip of the user'"'"'s thumb and the tips of the remaining fingers as a width of an object, and estimating a mean distance from the user'"'"'s palm to the tips of the fingers gripping the object as a height of the object from the palm, in the recognized gripping motion of the user'"'"'s fingers.

5. The control method according to claim 4, wherein the execution of the gripping motion of the robot hand further comprises adjusting a distance between the tips of opposing fingers of the robot hand according to the width of the object, and adjusting a distance from a base of fingers of the robot hand to the tips of the fingers of the robot hand according to the height of the object from the palm.

6. The control method according to claim 1, wherein the execution of the gripping motion of the robot hand comprises adjusting angles of joints of the fingers of the robot hand according to angles of joints of the user'"'"'s fingers in the recognized gripping motion of the user'"'"'s fingers.

7. The control method according to claim 6, wherein the execution of the gripping motion of the robot hand further comprises bending the fingers at one side from among the opposing fingers of the robot hand according to the angles of joints of the user'"'"'s remaining fingers, and bending the fingers at the other side from among the opposing fingers of the robot hand according to the angle of joints of the user'"'"'s thumb.

8. A control method of a robot hand comprising:

recognizing, by one or more processors, a pre-posture of a user'"'"'s fingers using a master device;

judging a gripping posture desired by the user from the recognized pre-posture;

changing the shape of the robot hand according to the recognized pre-posture;

recognizing a gripping motion of the user'"'"'s fingers using the master device; and

executing a gripping motion of the robot hand according to the gripping posture desired by the user.

9. The control method according to claim 8, wherein the change of the shape of the robot hand comprises changing the shape of an adducted and abducted joint of the robot hand.

10. The control method according to claim 8, wherein, in the judgment of the gripping posture desired by the user, the gripping posture desired by the user is judged as one of pinch grip and power grip.

11. The control method according to claim 10, wherein, in the judgment of the gripping posture desired by the user, the gripping posture desired by the user is judged as power grip when proximal interphalangeal joints of the user'"'"'s fingers in the recognized pre-posture are bent at a reference angle or more.

12. The control method according to claim 11, wherein the execution of the gripping motion of the robot hand comprises executing the gripping motion of the robot hand by interpolating between the pre-posture of the robot hand and the power grip of the robot hand.

13. The control method according to claim 10, wherein, in the judgment of the gripping posture desired by the user, the gripping posture desired by the user is judged as pinch grip when proximal interphalangeal joints of the user'"'"'s fingers in the recognized gripping motion are unfolded at below a reference angle.

14. The control method according to claim 13, wherein the execution of the gripping motion of the robot hand comprises executing the gripping motion of the robot hand by interpolating between the pre-posture of the robot hand and the pinch grip of the robot hand.

15. A control method of a robot hand comprising:

recognizing, by one or more processors, a pre-posture of a user'"'"'s fingers using a master device;

storing a pre-posture of the robot hand corresponding to the recognized pre-posture;

recognizing a gripping posture of the user'"'"'s finger using the master device;

storing a gripping posture of the robot hand corresponding to the recognized gripping posture; and

interpolating between the pre-posture of the robot hand and the gripping posture of the robot hand.

16. The control method according to claim 15, wherein, in the interpolating between the pre-posture of the robot hand and the gripping posture of the robot hand, the angles of joints of fingers of the robot hands are interpolated.

17. The control method according to claim 15, wherein, in the interpolating between the pre-posture of the robot hand and the gripping posture of the robot hand, the positions of the tips of fingers of the robot hands are interpolated.

18. A control method of a robot hand comprising:

recognizing, by one or more processors, a pre-posture of a user'"'"'s fingers using a master device;

changing the shape of the robot hand according to the recognized pre-posture; and

maintaining the shape of the robot hand when amount of changing of angles of joints of the user'"'"'s fingers in the recognized pre-posture are smaller than a reference amount of changing.

19. The control method according to claim 18, wherein the maintenance of the shape of the robot hand includes maintaining the shape of an adducted and abducted joint of the robot hand when a amount of changing of the angle of the adducted and abducted joint of the user'"'"'s fingers is smaller than the reference amount of changing.

20. A control apparatus of a robot hand comprising:

an input unit to receive information of a pre-posture of a user'"'"'s fingers and a gripping motion of the user'"'"'s fingers;

a storage unit to store a fixed posture of the robot hand;

a controller to control the overall operation of the robot hand; and

a plurality of driving units to drive respective joints of the robot hand,

wherein the controller controls each of the driving units to drive respective joints of the robot hand to changing the shape of the robot hand according to the recognized pre-posture and to execute a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.

21. The control apparatus of a robot hand according to claim 20, wherein the controller determines a gripping path of the robot hand by interpolating between the recognized pre-posture of the robot hand and a gripping posture of the robot hand

22. The control apparatus of a robot hand according to claim 20, wherein the controller maintains the shape of the robot hand when changes of angles of joints of the user'"'"'s fingers in the recognized pre-posture are smaller than a reference change.