抄録
This paper proposes a design method for assignment of limited number of distributed pressure sensors in human-mimetic robot hands with whole-area soft skins, based on the degree of importance in grasping objects among individual regions. First, we let persons grasp painted objects in 18 types of grasping styles with their hand putting on a glove with projections on the surface. Next, we count the number of painted projections on the glove, then calculating evaluation indices for contact frequency and specific contribution respectively. Finally, referring to those indices among individual regions, assignment of distributed pressure sensors is decided.
