Abstract
A direct teaching method is effective for multifingerd robot hand designed similar to human's hand structure. To achieve an instinctive teaching, it is necessary to recognize manipulation patterns by observing a human hand. In this paper, a recognition system of object manipulation is developed as a part of direct teaching system for multifingered robot hand. Conventional recognition systems have difficulties in recognizing complex manipulations obtained by dextrous finger actions due to the low accuracy of the data glove. This paper proposes an operation measurement system using an object that is specially designed for teaching. This object consists of a six-degree-of-freedom position/orientation sensor and a tactile sensor sheet. This paper also proposes a method of spotting recognition by observing a change of the contact state of the palm surface. The effectiveness of this method is confirmed by experiments.
