Acquisition of an object model by manipulation with a multifingered hand

A multifingered hand with touch sensors has grasping and manipulating functions, and has the function of a sensor probe. We have been studying the merging of these two functions, the acquisition of an object model by manipulation with a multifingered hand, and determining the next finger action based on the acquired information. By manipulating objects while acquiring the object models, we expect to be able to manipulate many types of objects and unknown objects. This paper discusses a multifingered hand system for acquiring an object model while manipulating the object, by using the contact point information between the fingertips and object.