A decision method for the placement of mechanical tactile elements for grasp type recognition

The present paper describes a decision method for the placement of mechanical tactile elements for grasp type recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that is as high as that of a placement consisting of many elements. The effective placement of tactile elements decided by the proposed method has been evaluated through experiments involving the recognition of grasp type from grasp taxonomy defined by Kamakura.