US Patent No. 9,112,385

FORCE-CONTROLLED ELECTRIC HAND


Patent No. 9,112,385
Issue Date August 18, 2015
Title Force-controlled Electric Hand
Inventorship Tetsuro Sakano, Minamitsuru-gun (JP)
Assignee FANUC Corporation, Minamitsuru-gun, Yamanashi (JP)

Claim of US Patent No. 9,112,385

1. A force-controlled electric hand, comprising:
an electric motor;
a rotary-linear motion conversion mechanism converting rotary motion from the electric motor to linear motion;
a pair of finger bases including a movable finger base, the movable finger base moving linearly in parallel with a first axial
line through the rotary-linear motion conversion mechanism by power from the electric motor;

a pair of fingers fixed to the pair of finger bases to grip a target workpiece by linear motion of the movable finger base;
and

a force sensor provided at least at one of the pair of finger bases to detect gripping force of the pair of fingers, the force
sensor including a pair of parallel beams extending in parallel with a second axial line vertical to the first axial line,
and including an electrostatic capacity type force sensor detecting the amount of displacement of the parallel beams to detect
the gripping force in a direction of the first axial line based on an amount of displacement of the parallel beams in the
direction of the first axial line.