Shear-Primarily Based Grasp Control For Multi-fingered Underactuated Tactile Robotic Hands
This paper presents a shear-primarily based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand outfitted with delicate biomimetic tactile sensors on all 5 fingertips. These ‘microTac’ tactile sensors are miniature versions of the TacTip imaginative and prescient-based mostly tactile sensor, and can extract exact contact geometry and Wood Ranger Power […]