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

机器人手灵巧地操纵物体时，需要使用触觉、力和视觉等多个传感器。在本研究中，我们研制了一种具有多关节手指的机械手及其控制系统，并对其进行了操作实验。本研究的主要结果如下：多关节手指机械手系统的构建我们开发了三根多关节手指和一个紧凑的三轴力传感器，并将它们组装成一个机械手。机器人手有13个自由度，并在实时操作系统下进行管理。手指可以根据力传感器的信息进行实时控制。传感器信息处理程序的开发力信息通过数字滤波器进行过滤，以便在手指接触物体时获得检测的稳定性。对视觉信息进行处理，用于目标查找和目标跟踪。开发了用于块操作的视觉程序。机械手成功地站立了一个积木并用两个手指旋转它。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。当手移动木块时，力传感器监测力的强度，视觉子系统跟踪木块的位置。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.