| CPC B25J 13/082 (2013.01) [B25J 9/1612 (2013.01); B25J 13/084 (2013.01)] | 21 Claims |
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1. A control device comprising:
a grip controller configured to control a contact force at each contact point of a plurality of contact points when a contact section and an object come into contact with each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact section and a sensing result obtained by a force sensor disposed at the contact section,
wherein the sensing result obtained by the tactile sensor is used to determine a number of the plurality of contact points on the tactile sensor and a relative position from a predetermined reference position of each contact point of the plurality of contact points on the tactile sensor, which indicates a positional relationship between the plurality of contact points,
wherein the contact force at each contact point is controlled according to the number of the plurality of contact points, the relative position of each contact point, and a contact force strength ratio between individual contact points of the plurality of contact points,
wherein the contact force strength ratio is calculated for each individual contact point with respect to each other individual contact point of the plurality of contact points, and
wherein the grip controller is implemented via at least one processor.
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