Stable Grasping of Objects Using Air Pressure Sensors on a Robot Hand

摘要

In this paper, we propose a grasping force measurement method by machine learning to control a 3-finger hand robot with attaching an air pressure sensor on its fingertip. Robotis's 3-finger robot was used for the end effector. The method is carried out by firstly inserting and sealing the air pressure sensor at the fingertip of the finger robot, and then measure the air pressure at the time of grasping. It can be seen that it is possible to measure the grasping force by linearizing the output value through machine learning on the measured air pressure sensing value. The reliability of method is confirmed through comparison between the weight of the object to be grasped and the output value of the air pressure sensor. The validity is verified by comparing the data of force sensors widely and normally used for grasping force measurements.