Grasping Force Control of Multi-Fingered Robotic Hands through Tactile Sensing for Object Stabilization

. 2020 Feb 14;20(4):1050. doi: 10.3390/s20041050

Algorithm 1: Grasping force control through tactile sensing.

Requires: a trained online detection module, tactile readings, a initial grasping force

f_{0}

Repeat:

Generate a tactile sequence

t_{s e q}

and a tactile image

t_{i m g}

from tactile readings

Perform online detection based on

t_{s e q}

and output contact event

c^{s}

and object material

c^{m}

Perform force estimation based on

t_{i m g}

to calculate current contact information

Ψ = {f, p, C_{i m g}}

c_{s} = c_{n o n - c o n t a c t}^{s}

then

Perform position controller to control the joints of the robotic hand to reach desired joint position

else

Update the desired grasping force

f_{d}

based on

c^{s}

and

c^{m}

Perform force feedback control to tracking the desired grasping force

f_{d}