Abstract
Although a number of multi-fingered robot hands have been developed, none of these hands is in actual use. One reason for this is that conventional control methods are not useful for multi-fingered robot hands. A human manipulates an object using tactile information (contact points, direction, and severity of reaction force). In the present paper, a tactile-based control method for multi-fingered robot hands, which mimics human manipulation, is proposed. In the proposed method, three fingers are used for object manipulation, and object grasping and manipulation is achieved. The proposed method is implemented in Universal Robot Hand II, and its effectiveness is verified.