A real-time strategy for dexterous manipulation: Fingertips motion planning,force sensing and grasp stability

This paper presents a global strategy for object manipulation with the fingertips with an anthropomorphic dexterous hand: the LMS Hand of the ROBIOSS team from PPRIME Institute in Poitiers (France). Fine manipulation with the fingertips requires to compute on one hand, finger motions able to produce the desired object motion and on the other hand, it is necessary to ensure object stability with a real time scheme for the fingertip force computation. In the literature, lot of works propose to solve the stability problem, but most of these works are grasp oriented; it means that the use of the proposed methods are not easy to implement for online computation while the grasped object is moving inside the hand. Also simple real time schemes and experimental results with full-actuated mechanical hands using three fingers were not proposed or are extremely rare. Thus we wish to propose in a same strategy, a robust and simple way to solve the fingertip path planning and the fingertip force computation. First, finger path planning is based on a geometric approach, and on a contact modelling between the grasped object and the finger. And as force sensing is required for force control, a new original approach based on neural networks and on the use of tendon-driven joints is also used to evaluate the normal force acting on the finger distal phalanx. And an efficient algorithm that computes fingertip forces involved is presented in the case of three dimensional object grasps. Based on previous works, those forces are computed by using a robust optimization scheme.In order to validate this strategy, different grasps and different manipulation tasks are presented and detailed with a simulation software, SMAR, developed by the PPRIME Institute. And finally experimental results with the real hand illustrate the efficiency of the whole approach.