Safe grasping system for robotic hand with fingers

摘要

The ne handling and handling of hand tools is a major challengeof modern robotics. The problem involves both the design of hardwareequivalent to the human hand and the development of control strategies.This paper proposes a strategy to control the grasp of an anthropomor-phic robotic hand, so that it can make the stable grasp of a deformablecylindrical object, avoiding its slipping or damage. Slip detection is doneby analyzing the signals from force sensors located in the robotic hand.The reduction in the error of this variable guarantees the grasp withoute ects on the structure of the object. The strategy is implemented ona real prototype, observing an excellent performance.