Tele-grasping by Multi-finger Hand with Proximity Sensors and Arm

Risa Ichimura, Hiroyuki Kajimoto, Makoto Shimojo, Aiguo Ming
2020 Journal of the Robotics Society of Japan  
This paper refers to a tele-grasping method by a multi-finger hand and an arm based on proximity-information feedback using sensors mounted on the fingertips of the hand. The sensors are composed of array of photo-reflectors connected in a network and can detect posture angles and distance between the finger and the object within a distance of several ten millimeters from the sensor. In this paper, we propose an electro-tactile stimulation method based on proximity sensor output for an operator
more » ... put for an operator to perceive intuitively the object when the hand approaches the object. According to the presentation of proximity information, we propose a strategy for tele-grasping and control method. An experimental system has been constructed and intentionally grasping of complex objects by the operator has been realized by the system.
doi:10.7210/jrsj.38.737 fatcat:phyfivjl4jhjxidaxs67qxpxfi