Abstract
This article focuses on the three dimensional posture control of the grasped object by a robotic hand which consists of three fingers. This hand has hemispherical polyurethane rubber on its fingertips. Soft fingertips have various features, for example, the touch area of soft fingertips is wider than that of hard fingertips. Moreover, soft fingertips can control angle and direction of the object though hard fingertips can only control the grip force because of the structural problem. Control method of this system feedbacks posture of the grasped object, so we use a CCD camera to measure this information.
