A locally adaptive online grasp control strategy using array sensor force feedback

This paper presents a novel control strategy for a grasping free form unknown objects. The strategy adapts online the grasping forces applied at each contact point based on a bio-inspired criterion that reflects the total change in the measured force at each contact point. Experimental results with a two-fingered gripper equipped with tactile array sensors are provided. It shows that the adaptation can reach a stable grasp in less than 50ms from the initial contact.