The design and development of a four-fingered robot hand (adjustment of grasping position by using slip motion on passive closure)

We propose a technique of grasping and manipulating an object in three-dimensional space by using a four-fingered robot hand, which is applicable to a real robot hand. In our approach, we select the condition of the passive closure as grasping form with an object by the robot hand, and then simplify the necessities for grasping using passive closure. We move the object in parallel motion from that grasping condition by using the slip. Furthermore, we show the new four-fingered robot hand with tension-difference type torque sensors and characteristics. By using this way, for some objects with different shapes, we carry out experiments with this robot hand in practice. Last of all, we verify the proposed method and examine the result.