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How Object Detection Works on Robotiq Grippers

Understand object detection behavior on the 2F-85,2F-140, Hand-E,  and Hand-E C10

Context

This article explains how object detection works on Robotiq’s adaptive grippers, including the 2F-85, 2F-140, Hand-E, and 3-Finger Gripper. These grippers do not use tactile sensors — instead, they rely on position and force feedback to infer whether an object is present between the fingers.

Information

1. How Object Detection Works

Robotiq grippers detect objects based on motion feedback rather than touch. Internally, the grippers monitor whether they can reach the requested finger position within the configured speed and force settings.

If the gripper cannot complete its full range of motion (due to encountering an object), it concludes that something is obstructing the fingers — hence, an object is detected.

  • No tactile sensors are used

  • Detection is based on positional deviation

2. Object Detection Feedback Logic

The gripper reports detection status through the gOBJ register, which holds specific values:

  • 0x01 – Object detected while closing (before reaching requested position)

  • 0x02 – Object detected while opening

  • 0x03 – No object detected (gripper completed full motion)

Example:
If you command the gripper to close to 100% and it stops at 50% due to contact with an object, it will report gOBJ = 0x01.

3. Cases Where Detection May Fail

Detection will not occur if the gripper is able to complete its motion — even if it briefly contacts an object.

Example:
You request the gripper to close to 50%, and the object is exactly at 50%. The gripper reaches the position without resistance, so no object is detected — gOBJ = 0x03.

This behavior is expected and does not indicate a malfunction.

4. Tips to Ensure Reliable Detection

To optimize object detection:

  • Set the target position beyond the object's expected width
    (e.g., if object width is ~50%, set close to 80–100%)

  • Avoid ambiguous mid-course commands that match the object's position

  • Use consistent speed and force settings during detection-critical motions

5. Applicable Grippers

This detection method applies to all of Robotiq’s adaptive grippers:

  • 2F-85 and 2F-140

  • Hand-E & Hand-E C10

All of them rely on the same positional feedback logic for object detection, though their mechanical range and precision may vary.

6. Optional: Test It Yourself

You can verify detection by monitoring the gOBJ register in your controller interface:

  1. Command the gripper to close fully (e.g., 100%)

  2. Place an object to block the motion around 50%

  3. Check the gOBJ register for value 0x01 (object detected)

Repeat the test with no object to confirm it returns 0x03 (no object).

Conclusion

Robotiq grippers detect objects based on motion constraints, not touch sensors. Understanding how gOBJ feedback works helps optimize grasping routines and avoid misinterpreting results.

For advanced setup or troubleshooting:

Updated: November 2025