Planning, Sensing and Control of Power Grasp of a Multi-Fingered Robot Hand

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The power grasp of multi-fingered robot hand utilizes not only finger chips but also middle links of the fingers and even the palm, and constraines the object with multiple contacts of the fingers.Since K.Salisbury pointed out its importance in 1988, there have been made several research works. The power grasp possesses an important feature that the grasp can be maintained with constant torques against a class of unknown external disturbing forces. The robustness of power grasp is superior to the common fingertip grasp wihch cannot resist against disturbing forces without changing the joint torques, in a sense that the power grasp can respond to abrupt external forces without any time delay due to feedback control.Through this research, we worked and obtained many results on(1) Planning the power grasp based on the evaluation of the set of allowable external forces,(2) Sensing the contact points and forces knowing the joint torques and the signals of three 6-axis-force sensors mounted at the base of each finger, and(3) Controling the power grasp to exerimentally verify the robustness.