{
  "abstract": "A method for estimating an actuator gripping force for estimating, as a gripping force of a fluid pressure actuator, a force acting in a direction orthogonal to a tube axis of the fluid pressure actuator when the tube axis is not curved due to curvature, in which the fluid pressure actuator includes a tubular main body portion having a tube circumference of which one side is shortened in a tube axis direction and curved due to increase in internal pressure in a tube, a proximal end side of the fluid pressure actuator along the tube axis is fixed to a base body, and a distal end of the fluid pressure actuator moves relative to the base body, the method including estimating the gripping force using Equation F=ω 1 P(L−L min )+ω 2 , where L represents a length from one end portion to the other end portion of the most contracted side surface of the main body portion, P represents the internal pressure in the tube, F represents the gripping force, ω 1 and ω 2 represent parameters set based on basic characteristics of the fluid pressure actuator, and L min represents a constant based on geometric characteristics of the fluid pressure actuator.",
  "assignees": [
    "BRIDGESTONE CORP",
    "UNIV TOKYO"
  ],
  "authors": [
    "KAWASHIMA KENJI",
    "KUTSUNA KAITO",
    "MIYAZAKI TETSURO",
    "OONO SHINGO"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000001434",
  "categories": [
    "industrial-motion-power-transmission/fluid-power"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 203
  },
  "figures": [],
  "files": [
    {
      "bytes": 10496,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "56aea34fd789d1a759efe42503d8f3fdb3981dfc852435aa0bfdd3cfd93954f9"
    },
    {
      "bytes": 1705,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "2c4800dd6a605edf0164314cca62216692bae337a6a082fc85d6714718782da3"
    },
    {
      "bytes": 1755,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "84af60607130d505dc0870e238133e1a3cbc0dc087da26d5c04795002516d5c6"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000001434/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "f15b15/103",
    "g01l5/0061",
    "g01l5/0061",
    "b25j13/082",
    "b25j15/08",
    "b25j9/142"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000001434",
  "published_at": "2026-09-15T19:05:49.106743Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-03-26",
  "source_id": "US-2026085986-A1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US2026085986A1",
  "supersedes": null,
  "title": "Actuator gripping force estimation apparatus and method for estimating actuator gripping force",
  "uuid": "01a0a676-0b32-795a-a67e-a0a82beedb3b"
}