A technique to acquire vibrotactile information using high-frequency vibration for object of detection and its application to controlling grasping force

摘要

This paper deals with a vibrotactile sensor capable of generating impulsive high-frequency signals by which only slipping states of an object can be distinguished. We verified that the slip signals of the sensor could distinguish the slipping states from other states by using a two-fingered robot hand. Finally we demonstrated that the slip signal of the sensor output guarantees a slipping state to increase the grasping force of the two opposing robot fingers not to drop an object, by making full use of the impulsiveness of the slip signals.