A control system for multi-fingered robotic hand with distributed touch sensor

A robotic hand and its control system is developed. This hand has five fingers and 22 D.O.F. (16 for fingers and 6 for arm). And the surface of hand is covered with distributed touch. sensor that has more than 500 measuring points. This system can control the position. orientation. velocity and force of multiple points on the hand simultaneously. The effectiveness of this system is shown by the experiment in which our robotic hand holds a pair of scissors and-achieves a paper cutting task. The event driven task execution system is also developed and used for the experiment. This system: watches the event which signal the change of constrained state of hand and switches the control points and their behaviors on the hand dynamically according to the detected event.