A new control algorithm based on tactile and slippage sensation for robotic hand

This paper presents a new control algorithm in robotic hand based on tactile and slippage sensations. Optical three-axis tactile sensor is used as tactile sensing device at the robot hand system to acquire tactile and slippage information. The tactile sensor is based on optical waveguide transduction method that capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. Direction of slippage distribution was analyzed and used to select accurate hand motion and timing to grasp and release object. In addition, communication algorithm between robot arm and hand was presented with improvement of flag analyzer and velocity generator algorithm in the robot control system. The proposed algorithm was evaluated in experiment of grasp and twist motion. The experiment result shows robot arm and hand managed to perform all motions smoothly, which revealed good performance of the proposed control algorithm.