Better manipulation with human inspired tactile sensing

Abstract

Introduction: Understanding what properties of the human hand can to be incorporated in robotic hands has been an active area of investigation for a long time. Good strides have been made in designing robotic hands and a number of working dexterous robotic hands have also been built [1, 2]. However, the use of touch sensory (both, cutaneous/tactile/extrinsic as well as kinesthetic/intrinsic) information for dexterous manipulation still lags the mechanical capability of such hands. This work presents how extrinsic touch sensing, the cutaneous/tactile analogous