Detecting Grasp Phases and Adaption of Object-Hand Interaction Forces of a Soft Humanoid Hand Based on Tactile Feedback
Pascal Weiner,Felix Hundhausen,Raphael Grimm,Tamim Asfour,Pascal Weiner,Felix Hundhausen,Raphael Grimm,Tamim Asfour
Engineering humanoid robot hands with the ability to dexterously grasp objects of different sizes, shapes, mate-rial properties and weights requires sophisticated tactile sensing and intelligent controllers able to interpret sensory information and adapt contact forces with the object to achieve a stable and safe grasp. In this paper, we present a new soft humanoid hand equipped with a multimodal ...
