Development of a Multi-fingered Robotic Hand and Its Compliance Control using F/T Sensors at Fingertips

Abstract

There have been great improvements in hardware of robotic hands, but many of them as well as KISTHand which is a multi-fingered hand developed in KIST are still adopting position servo system due to the size limit. In this paper, compliant grasping controller for position controlled robotic hand using F/T sensors at fingertips are proposed. Raw signals of F/T sensors are process by a lowpass filter and gravity effect compensator for fingertip mass, and used in the compliance controller. The control torque input from the controller is converted to a desired joint position. Experiments with KISTHand is also conducted to validate the proposed method, and showed complacent results.