Automated symmetric grasping integrated with voice command control

Automated symmetric grasping by a voice-controlled RTX SCARA robot was implemented using six optoelectronic sensors on the gripper. Excitation of LEDs and multiplexing of analog phototransistor signals were digitally controlled to require only eight connecting wires. The utility of a single computer to control grasping with sensor information was demonstrated. It is noted that the symmetric-grasping capabilities and flexibility provided by the integration of voice control and optoelectronic sensors should prove to be useful in rehabilitation as well as other robot applications