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  │  FICTIONAL TEACHING DOCUMENT — "Claude for Legal: A Guided Tour"          │
  │  Sablefield's internal product description of the "GripSense" module,     │
  │  invented for practice. Written to be charted against the synthetic '605  │
  │  claims: it describes the product in DIFFERENT words than the claims      │
  │  (fingers vs. "jaw members," pressure pads vs. "force sensor," material   │
  │  presets vs. "grip-force profiles") so some mappings turn on claim        │
  │  construction; it is SILENT on the sensor technology and the control-loop │
  │  rate (so those elements need evidence); and it states GripSense does not  │
  │  self-learn (so one dependent claim reads as not practiced). Free to       │
  │  reuse for learning. Not legal advice; not a real product.                │
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# GripSense Adaptive End-Effector Module — Product Specification (Internal)

**Sablefield Robotics, Inc. · Product Engineering · Rev. C — March 2026**
**Applies to:** GripSense module as shipped on the SF-300 and SF-340 platforms

> Internal engineering description prepared for the legal team's review. Confidential. Combines the published datasheet language with engineering detail not in the public marketing materials.

## Overview

GripSense is Sablefield's adaptive grasping module for the SF-300 and SF-340 industrial robots. It lets a single robot handle parts of very different stiffness — a glass panel and a steel bracket on the same line — by adjusting how hard it grips based on the part being handled, without the operator re-teaching the robot each time.

## Mechanical

- The module carries **two adaptive gripper fingers** mounted on a common housing. The fingers close toward each other and open apart to pick and place a part.
- A **servo drive** in the housing moves the fingers; the servo responds to commands from the GripSense controller.
- Each fingertip carries **pressure-sensitive contact pads** that report the grip pressure the fingers are applying to the part. (The pad assembly is sourced from a third-party supplier; the underlying sensing technology is treated as the supplier's confidential information and is not described in our published materials.)

## Control behavior

- GripSense ships with a library of **material presets** — for example, *Glass*, *Cardboard*, *Sheet Metal*, *Molded Plastic*. Each preset stores a **target grip pressure** appropriate for that material.
- At pick time, the operator selects the material preset for the part being run. An **optional vision add-on**, where installed, can classify the incoming part and select the preset automatically.
- During the grasp, the GripSense controller reads the **pressure signal from the contact pads**, compares it to the **target grip pressure of the selected preset**, and drives the servo to **hold the grip within a set margin** of that target. If the part does not match any installed preset, GripSense applies a conservative default target and logs the pick for later review.
- The **grip margin** (how far the grip may drift from target before the controller corrects) is **operator-adjustable** in the GripSense settings panel.

## What GripSense does NOT do

- GripSense does **not** learn or change its presets on its own. Presets are **factory-calibrated and operator-tunable**; the module does not modify a preset based on prior picks, and there is no on-board model that updates the presets automatically. (A separate analytics dashboard can *report* grip data to engineers offline, but it does not feed back into the module.)

## Not specified in this document

- The **internal update/refresh rate** of the grip-control loop (how many times per second the controller corrects the servo) is set by the supplier's firmware and is **not published or specified here** — confirm with the firmware team if needed.
- The **sensing principle** of the contact pads (capacitive, piezoresistive, strain-gauge, or other) is **not disclosed** in our materials — it is the pad supplier's confidential information.