Abstract
We propose a novel cylindrical interface that treats the force vector distribution to manipulate a robotic hand. This elastic device allows an institutional and dexterous robot manipulation based on vision-based tactile-sensing technology. It provides universal manipulation that can tolerate the personal differences in hand sizes and grasping postures of the users. In this paper, we introduce the hardware design and the basic algorithm of our interface. We decided the hardware parameters such as the camera, convex mirror, the size of markers and length of the cylinder to capture the movement of markers clearly. Using our interface, simple system for robot manipulation will be possible.
