Three-Finger Robot Hand that Mimics Human Fingertip Movements in Precision Assembly Work

To counter the decline in the number of skilled workers, we proposed a system which measures tactile force information applied by humans to parts during manual assembly processes. We realized a robot control algorithm which allows the robot to mimic the movement of which human assemble machine parts in multiple steps from the recorded data. To record the information of forces applied to the part by human fingers and the special trajectory of the part during the manual assembly process, we utilized a 2-link arm with a tactile force sensor mounted to the end and joint angle sensor on each rotational axes. To replicate the precision assembly skill of skilled works, we utilized a 9-DOF multi-finger end-effector to manipulate the machine parts and mate with other parts.