Multifingered robot hand dynamic grasping control based on fingertip three-axis tactile sensor feedback

Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping it. The proposed method allows real-time control of the hand since it requires few numerical calculations. In order to enable the tactile feedback, a finger-shaped fingertip three-axis tactile sensor using Quantum Tunnelling Composite (QTC) capable of detecting the normal and shear force is developed. Finally, the validity of the proposed method is confirmed experimentally using a multi-fingered robot hand with three-axis tactile sensors.