---
publication_id: "OT-2026-000001154"
title: "Sensor module, robot hand, and robot system"
published_at: "2026-09-15T19:03:56.718723Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001154"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j15/08"
  - "b25j15/08"
  - "b25j13/08"
  - "b25j13/085"
  - "b25j13/085"
  - "b25j15/08"
---

# Sensor module, robot hand, and robot system

## Abstract

A sensor module of the present invention is arranged on a finger of a robot hand. The finger has a pulp region for applying a force to a subject, and a back region opposite to the pulp region. The sensor module of the present invention includes two or more sensors and a surface member. The sensors are arranged at positions corresponding to the pulp region of the finger to detect the force. The surface member covers the finger and the sensors. The sensors are arrayed in a circumferential direction with a predetermined gap. A portion of the surface member covering the pulp region is formed of an elastic material. The portion of the surface member covering the pulp region has an easily-deformable portion at least in a range corresponding to the gap.