We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous\r\nmanipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor\r\nhas a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number\r\nof measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the\r\nmeasurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor\r\nwith high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through\r\nexperiments.
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