Robot Hand Whose Fingertip Covered with Net-Shape Proximity Sensor – Moving Object Tracking Using Proximity Sensing –
Hiroaki Hasegawa*, Yosuke Suzuki*, Aiguo Ming*,
Masatoshi Ishikawa**, and Makoto Shimojo*
*Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, East-4th Bldg., 1-5-1 Chofugaoka, Chofu-city, Tokyo 182-8585, Japan
**Department of Mathematical Engineering and Information Physics, Faculty of Engineering, The University of Tokyo, #6 Bldg., 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Occlusion in several millimeters from an object to be grasped made it difficult for a vision-sensor-based approach to detect relative positioning between this object and robot fingers joint grasping. The proximity sensor we proposed detects the object at a near range very effectively. We developed a thin proximity sensor sheet to cover the 3 fingers of a robot hand. Integrating sensors and hand control, we implemented an objecttracking controller. Using proximity sensory signals, the controller coordinates wrist positioning based on palm proximity sensors and grasping from fingertip sensors, enabling us to track and capture moving objects.
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