Abstract
We have developed a non-contact sensor called "net-structure proximity sensor" and a contact sensor called "slip sensor. " Both sensors are mounted on fingertips of our robot hand for object manipulation. The net-structure proximity sensor detects position and posture of an object, not only in non-contact but also in contact. The slip sensor detects pressure and slippage between an object in contact. In this paper, we investigate the outputs of these sensors under contact-state-transition between fingertips and an object, such as rapidly touch and forced posture change.
