Abstract
We have developed a proximity sensor that was specially designed for a fingertip of robot hand. We have realized a preparatory motion before grasping, for adjusting the object-fingertip distance and 2-axis postures simultaneously by using the sensor. We call this motion "pre-shaping". In this paper, we realize object grasping by introducing a proximity sensor into master slave system. So, we newly develop a proximity sensor that is specially designed for palm of robot hand. This sensor enables appropriate pre-shaping by adjusting 2-axis postures between palm of robot hand and object.
