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This paper proposes a pair of single or multi-DOF robot fingers with soft and deformable tips that can pinch an object stably in a dynamic sense with the aid of real-time sensory feedback. To realize dynamic stable pinching, a practical method of using optical devices is proposed for measuring both the maximum displacement of finger-tip deformation and the relative angle between the object surface and each of finger links. It is shown that the overall closed-loop system of a pair of two single-DOF fingers with soft tips with real-time sensory feedback of the difference between the centers of two area-contacts at both sides of the object becomes asymptotically stable. This means that the pair achieves dynamic stable grasping (pinching). In the case of a pair of 1-DOF and 2-DOF fingers with soft tips, it is shown that the proposed method of closed-loop feedback of the difference between the centers of two area-contacts and the rotational angle of the object can establish not only dynamic stable grasping but also regulation of the posture of the object.
Han et al. (Wed,) studied this question.