Patent ID: 9375838
Filing Date: 2016-06-28
CPC Classification: B25J

Claim Text:
1. A grip apparatus comprising: a grip mechanism including a plurality of fingers; a pressure sensitive conductive rubber that is provided to at least one of the plurality of fingers and configured to output a detection signal corresponding to acting force; and a control unit configured to cause the plurality of fingers to perform an opening operation after performing a closing operation and to perform a closing operation after the opening operation, and also configured to determine that the grip mechanism grips a work in a case where a detection value based on the detection signal is higher than a threshold and determine that the grip mechanism releases the work in a case where the detection value is lower than the threshold, wherein the control unit samples the detection signal of the pressure sensitive conductive rubber before the fingers contact the work and after the opening operation, and sets a value obtained by adding a predetermined value to the detection value based on the sampled detection signal as the threshold.