Multi-sensor system for an articulated robotic hand

How a sensor system equipped with fingertip sensors and strain gauges can provide proper feedback to drive the grasp kinematics of an articulated robotic hand is discussed. The grasp kinematics that provide the robotic hand with precision and dexterity are based on impedance control. The fingertip sensor and the strain gauges are designed with piezoresistive materials for force transduction. Through optimization based on the sensitivity and capability of the sensors, a synergism of force and contact information can be obtained to achieve precise control and dexterous manipulation of the robotic hand.<
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