Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

Abstract

This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.