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ICRA
2005
IEEE

Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor

10 years 3 months ago
Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor
— This paper introduces a multifingered robotic hand eNAIST-Handf and a grip force control by slip margin feedback. The developed prototype finger of the NAISThand has a new mechanism by which all 3 motors can be placed inside the palm without using wire-driven mechanisms. A method of grip force control is proposed using an incipient slip estimation. A new tactile sensor is designed to active the proposed control method by the NAIST-Hand. This sensor consists of a transparent semispherical gel, an embedded small camera, and a force sensor in order to implement the direct slip margin estimation. The structure and the principle of sensing are described.
Jun Ueda, Y. Ishida, Masahiro Kondo, Tsukasa Ogasa
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Jun Ueda, Y. Ishida, Masahiro Kondo, Tsukasa Ogasawara
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