GRASP OF HARD AND SOFT OBJECTS BY DETECTIING FINGERTIP SLIP USING MULTI FINGERS HAND

Koichi Funada, Mituo Nagao, Susumu Sakano

Abstract

The paper presents hardware and software architecture of the developed multi-finger hand robot using tactile sensors. The hand has three identical fingers. The fingers can detect hard and soft physical information by the tactile sensors using phase shift method. The soft and hard objects can be grasped and held easily by detecting slipping properties between the fingers and object. The development of dexterous robot hand is a very challenging endeavor. Many robot researchers has pursued the dexterous robot hands. Many robot hands have been developed over the past. These robot hands make it possible for the robot to grasp and manipulate objects. The tactile sensors are used for the detection of contact pressure to hold object. It is not possible to control soft object easily because of the very small contact pressure.
In this study, the new tactile sensor of piezoelectric device is developed and the detection of the small contact pressure can be achieved by the phase shift method. The soft object is grasped and held easily by the detection of the slipping property between the tactile sensors and the object.

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DOI

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IMEKO TC

TC4 - Measurement of Electrical Quantities

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