Judgment method of grasping stability for dexterous hand based on force balance theorem and Monte Carlo method

Abstract

PurposeMulti-sensor fusion in robotic dexterous hands is a hot research field. However, there is little research on multi-sensor fusion rules. This study aims to introduce a multi-sensor fusion algorithm using a motor force sensor, film pressure sensor, temperature sensor and angle sensor, which can form a consistent interpretation of grasp stability by sensor fusion without multi-dimensional force/torque sensors.Design/methodology/approachThis algorithm is based on the three-finger force balance theorem, which provides a judgment method for the unknown force direction. Moreover, the Monte Carlo method calculates the grasping ability and judges the grasping stability under a certain confidence interval using probability and statistics. Based on three fingers, the situation of four- and five-fingered dexterous hand has been expanded. Moreover, an experimental platform was built using dexterous hands, and a grasping experiment was conducted to confirm the proposed algorithm. The grasping experiment uses three fingers and five fingers to grasp different objects, use the introduced method to judge the grasping stability and calculate the accuracy of the judgment according to the actual grasping situation.FindingsThe multi-sensor fusion algorithms are universal and can perform multi-sensor fusion for multi-finger rigid, flexible and rigid-soft coupled dexterous hands. The three-finger balance theorem and Monte Carlo method can better replace the discrimination method using multi-dimensional force/torque sensors.Originality/valueA new multi-sensor fusion algorithm is proposed and verified. According to the experiments, the accuracy of grasping judgment is more than 85%, which proves that the method is feasible.