A multi-sensor system for controlling grasping force

Deals with a multi-sensor system for controlling a two-fingered hand to grasp various objects. The multiple sensors are grasping force sensors, a friction coefficient sensor, and a weight sensor, which are mounted on the hand. Algorithms to recognize objects and to control grasping force of the hand by integrating the detected sensory information are also presented. Experimental results of case studies show that the ability to detect grasping force of wide dynamic range, friction coefficient, and weight allows a hand to grasp many different objects