Tactile sensing for underwater operation system based on multi finger sensors information fusion

During grasping the underwater object, friction condition of fingers and object is variable, and forces imposed on the object are very complex too. It's difficult for autonomous operation to grasp the underwater object, and the operation requires a full tactile sensing. Therefore the methods are presented to extract the feature of touch and slide sensing from the output data of four component finger force sensors, aiming at the experimental research for underwater operation. According to contact model of fingers, we choose four component finger force sensors based on strain gauges. Employing fusing output data of finger force sensors installed on claw, it is very convenient for obtaining reliably touching, sliding and grasping forces.