人差し指形三軸触覚センサ搭載ハンドの把持力制御

抄録

To apply the three-axis tactile sensor to various objectives, we developed the sensor which mimicked human index finger of almost similar size of human one. The sensor finger pad is an acrylic core covered with a thin silicone rubber sheet; normal and tangential forces applied to the finger pad are obtained from gray scale value and its centroid movement observed with a miniature CMOS camera. To estimate effectiveness of this sensor, the sensor is mounted on a human hand shaped gripper and the gripper grips a cup stepwise elevating its weight with input of 10-yen coins one by one. Consequently, we conclude that this sensor possesses sensing capabilities of normal and tangential forces because the gripper can enhance its grasping force according to weight elevation of the cup.