Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

Christopher J. FordHaoran LiJohn LloydManuel G. CatalanoMatteo BianchiEfi PsomopoulouNathan F. Lepora

Christopher J. FordHaoran LiJohn Lloyd ...+3 Nathan F. Lepora

Mar 2023

摘要

This paper presents a control scheme for force sensitive, gentle graspingwith a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised versionof the TacTip optical tactile sensor on all five fingertips. The tactilesensors provide high-resolution information about a grasp and how the fingersinteract with held objects. We first describe a series of hardware developmentsfor performing asynchronous sensor data acquisition and processing, resultingin a fast control loop sufficient for real-time grasp control. We then developa novel grasp controller that uses tactile feedback from all five fingertipsensors simultaneously to gently and stably grasp 43 objects of varyinggeometry and stiffness, which is then applied to a human-to-robot handovertask. These developments open the door to more advanced manipulation withunderactuated hands via fast reflexive control using high-resolution tactilesensing.

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