Abstract
This paper introduces a new method to recognize three-dimensional patterns by grasping an object with fingers. An experiment based on this method is shown at the end.
The hardware to apply this method has three fingers. The first finger, which corresponds to the thumb, has only one degree of freedom, and the second and the third, which correspond to the index and middle fingers respectively, have three degrees. Each pivot joint can be driven independently. Each supporting surface between pivots has ON-OFF tactile sense. Each torque of the joint is measured as the force sense.
The pattern recognition of an object is performed by analyzing the distributed pattern of the sensors in contact and the bending forms of the fingers when an object is appropriately grasped with the tactile and force control method which is provided to recognize the pattern.
The results of the recognition are used to grasp an object properly and to determine a control policy directly oriented to a task.
