Abstract
When we make an artificial hand pinch an object by the multiple fingers we need to obtain some information of the object's physical quantity, especially the mass and its location for stable pinching. This paper proposes a method for estimating them for the pinching by two fingers that have soft finger tips and four tiny pressure sensors equipped in the sole of each soft tip. The mass and its location are estimated by the proposed formula with using the value and their variation obtained from the four sensors. This paper also proposes a simple lattice model of the springs to model the soft tip. The experimental results are compared with the simulation results.
