Abstract
We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile feedback with a sampling rate higher than 1 kHz. We have achieved the pen spinning task using the two robot fingers. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task with the three robot fingers using the system. The paper describes the tactile feedback control strategies and experimental results.
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