Research on compound usage of touch,force and vision sensors to control a hand with multi-jointed fingers

当机械手灵巧地操纵物体时，需要使用触觉、力和视觉的几个感应器。本研究开发了一种多关节手指机械手及其控制系统，并对其进行了操作实验。主要研究结果如下：构建了一种多关节手指机械手系统我们研制了三个带有紧凑型三维力传感器的多关节手指，并将它们组装成一只机械手。机器人手有13个自由度，在实时操作系统下管理。根据力传感器的信息对手指进行实时控制。传感器信息处理程序的开发通过数字滤光器对力信息进行滤波，以获得手指接触物体时检测的稳定性。对视觉信息进行处理，以进行目标发现和目标跟踪。机器人手成功地用两个手指站立并旋转了一块积木。在块操作任务中，视觉子系统识别块的位置，力传感器验证块的存在。当手移动积木时，力传感器监控力的强度，视觉子系统跟踪积木的位置。这两个传感器还可以检测操作任务是否失败。

When a robot hand manipulate an object dexterously, it is necessary to use several sensers of touch, force and vision. In this research, we have developed a robot hand with multi-jointed fingers and its control system and have done experiments of manipulation with it.The main results of this research are shown as follows.Construction of a robot-hand system with multi-jointed fingersWe developed three multi-jointed fingers with a compact 3-axis force-senser and assembled a robot hand with them. The robot hand has thirteen degrees of freedom and managed under a real-time operating system. The fingers could be controled in real-time according to the information of force sensers.Development of programs to process senser informationThe force information is filtered by a digital filtter in order to gain stability for detecting when the finger touches an object. The visual information is processed for object findeing and object tracking. The vision programed is developed to be applied for block manipulation.Experiments of block manipulationThe robot hand succeeded to stand a block and rotate it with two fingers. In the task of block manipulation, the vision subsystem recognizes the location of the block, the force senser verifies the presence of it. While the hand moves the block, the force senser monitors the force strength and the vision subsystem tracks the location of the block. Both of the sensers can also detect whether the manipulation task is failed.