Movement of an Object by the Manipulating Force of a Jointed Elastic Robot Hand with Two Fingers and Four Degrees of Freedom.

This paper is concerned with the study of the stable holding and movement of an object by the grasping action of a robot hand. A control algorithm is proposed for manipulating the jointed-finger hand while grasping an object and is applied to a hand with two fingers and four degrees of freedom developed especially for the study. In the experiment, an object on a plane is initially grasped by the hand and then moved along the restraining plane maintaining appropriate force. As a result, using the elastic-finger unit with contact sensors, the present hand successfully moved the object while absorbing the outside force from the restraining plane.