Augmentation of grasp robustness using intrinsic tactile sensing
- 1 January 1989
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 302-307 vol.1
- https://doi.org/10.1109/robot.1989.100005
Abstract
The authors discuss the application of intrinsic tactile sensing (ITS) to grasp and manipulation control. A brief description of ITS, i.e., contact sensing based on force/torque measurements at fingertips, is provided. A method for using sensory feedback in the control of grasp forces to augment grasp robustness against slippage is discussed with respect to a simple grasp type; simulation and experimental data are provided. The possible generalization of this sensor-driven approach to the control of optimal grasp force in complex grasp configurations is addressed.Keywords
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