任意の指先位置で把持可能なロボットハンド用近接覚センサの開発

抄録

We are developing robot hands with proximity sensors capable of acquiring information on the vicinity of an object. Up to now, a grasp posture at which the fingertip is facing directly to the object is considered and network structure proximity sensors have been designed for the grasping. By using the proximity sensors, it is difficult to realize a grasping at an arbitrary position of the fingertip, which is necessary for complicated grasping tasks. In this paper, a network structure proximity sensor is designed to meet the need and basic characteristics are investigated by experiments using a prototype of the sensor.