This paper describes the development of a parallel-fingered hand with multiple sensing functions for grasping objects with varying hardness, surface roughness, and weight. The multiple sensing functions are: grasping force sensing, static friction coefficient sensing, and weight sensing. Hardware and algorithms are described for measuring the above parameters and for controlling the hand's grasping force by integrating those parameters into a unified control law. We present experimental results that verify the proposed hand system's capabilities of lifting and holding target objects, given only predetermined maximum force settings or limit displacements for the initial grasp. Further studies demonstrate adaptive grasping force control in response to changes in an external force applied to the object, using the static friction coefficient detected by our sensor as a priori information on the object surface roughness.
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