Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor

Author

Ueda, Jun ; Ishida, Yutaka ; Kondo, Masahiro ; Ogasawara, Tsukasa

Author_Institution

Robotics Laboratory, Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Nara, 630-0192, Japan uedajun@is.naist.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

2332

Lastpage

2337

Abstract

This paper introduces a multifingered robotic hand eNAIST-Handf and a grip force control by slip margin feedback. The developed prototype finger of the NAIST-hand has a new mechanism by which all 3 motors can be placed inside the palm without using wire-driven mechanisms. A method of grip force control is proposed using an incipient slip estimation. A new tactile sensor is designed to active the proposed control method by the NAIST-Hand. This sensor consists of a transparent semispherical gel, an embedded small camera, and a force sensor in order to implement the direct slip margin estimation. The structure and the principle of sensing are described.

Keywords

Incipient Slip; Multifingered Robotic Hand; Robot Design; Slip Margin Feedback; Tactile Sensation; Actuators; Cameras; Electronics packaging; Fingers; Force control; Force sensors; Gears; Robot sensing systems; Robot vision systems; Tactile sensors; Incipient Slip; Multifingered Robotic Hand; Robot Design; Slip Margin Feedback; Tactile Sensation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570461

Filename

1570461