Tactile sensor based varying contact point manipulation strategy for dexterous robot hand manipulating unknown objects

A tactile sensor based varying contact point manipulation strategy that utilizes the mathematical models based on the assumption of fixed contact points is proposed to manipulate unknown objects with rolling contact for dexterous robot hand. In this strategy, fingertip tactile sensor is utilized to detect contact position and to update the size parameters about the finger end-link when rolling occurs. Experimental results show that the strategy can effectively improve the rolling contact manipulation performance when dexterous robot hand manipulates unknown objects.