Abstract
This paper presents an control method of object manipulation by a multi-fingered robot hand with hemispherical soft fingertips. Reflection force, which occurs between soft fingertips and object, is composed of static elastic force, viscous damping force, and inertia force. The asymptotic convergence of object position, object orientation and contact force was proven by the Lyapunov-like Lemma. Some experiment of object grasping by the human-type robot hand using three fingers is shown.
