In-Hand Telemanipulation Using a Robotic Hand and Biology-Inspired Haptic Sensing

A new approach to the in-hand manipulation problem, using fuzzy controlled teleoperation and a recently proposed multimodal tactile sensor are presented in this article. Real-time grasping experiments were performed by a fuzzy controlled gripper, with a compliant tactile sensor mounted on the gripper. As a new approach for in-hand manipulation and robot dexterity, a teleoperated thumb performed object rotation while the gripper maintained stable grasping. The data from the experiments were consistent and, thus, provided a substantial tool for in-hand control algorithms.