New tactile sensing by robotic fingertip with soft skin

摘要

We propose a new method of tactile sensing for a fingertip of a robotic hand. Using a simple fingertip with soft surface cover and a 6-axes force/torque sensor, we developed a new function for measuring the direction of the edge when the fingertip contacts with an edge of the object. The developed function is useful not only to plan strategies for stable grasping and dexterous manipulation but also to recognize the geometrical shape of an object. Two necessary components, a 6-axes force/torque sensor and the soft skin, are commercially available. They will neither restrict design of a robotic fingertip nor badly affect essential functions of stable grasping and manipulation.