器用な多関節多指ロボットハンドのための柔軟被覆と爪を有する指先

抄録

This paper describes a novel fingertip equipped with a soft elastic cover and a solid nail. The elastic cover of the fingertip enables changing friction coefficient at the contact with an object. It also enables detecting change of contact type with an object: the fingertip contact with a flat surface and with a convex sharp edge. The solid nail enables detecting a very small step of sub-millimeter on a smooth surface.