Tele-grasping by Multi-finger Hand with Proximity Sensors and Arm

Abstract

This paper refers to a tele-grasping method by a multi-finger hand and an arm based on proximity-information feedback using sensors mounted on the fingertips of the hand. The sensors are composed of array of photo-reflectors connected in a network and can detect posture angles and distance between the finger and the object within a distance of several ten millimeters from the sensor. In this paper, we propose an electro-tactile stimulation method based on proximity sensor output for an operator to perceive intuitively the object when the hand approaches the object. According to the presentation of proximity information, we propose a strategy for tele-grasping and control method. An experimental system has been constructed and intentionally grasping of complex objects by the operator has been realized by the system.