抄録
Fingers of human allow an object to be lifted using adequate grasping force and without slippage, even though the weight and friction coefficient of the object are unknown. Grasping force is controlled by detecting complex response of the tactile receptors. In this study, we develop a distributed sensor to lift an object by fingers without producing excessive force. Geometry of sensor is designed by calculating the contact condition between the finger and a plate with tangential load using a FE (finite element) analysis.
