Parameter identification of a grasp of a multi-fingered robot hand by redundant torque sensors

This paper discusses the identification of unknown parameters, such as external force and contact points by adding such redundant non-active joints as detecting only torque to a hand. Multifingered hands tend to have an unstable grasp because of their many degrees of freedom. But the grasp can be readily stabilized by a method which allows one to set the three-dimensional internal grasp can be readily stabilized by a method which allows one to set the three-dimensional internal stiffness at each fingertip. Thus, when an unknown object is grasped stably, it is considered that the grasp can be made more stable if unknown parameters can be identified using data obtained during the initial grasp. It is shown that unknown parameters can be identified by adding redundant non-active joints detecting only torques to a hand. Finally, it is illustrated by simple two and three dimensional examples that the proposed identification algorithm of the grasping parameters is valid.