---
publication_id: "OT-2026-000001434"
title: "Actuator gripping force estimation apparatus and method for estimating actuator gripping force"
published_at: "2026-09-15T19:05:49.106743Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001434"
categories:
  - "industrial-motion-power-transmission/fluid-power"
keywords:
  - "f15b15/103"
  - "g01l5/0061"
  - "g01l5/0061"
  - "b25j13/082"
  - "b25j15/08"
  - "b25j9/142"
---

# Actuator gripping force estimation apparatus and method for estimating actuator gripping force

## 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.