To achieve the skillful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, in the boundary area of a non-contact phase and a contact phase, there are problem that lack of sensor information because the influence of occlusion comes up to surface. We devise to introduce the proximity sensor in this area. And we call the robot hand which is equipped with proximity, tactile and slip sensor “intelligent robot hand”. In this research, we show the constitution example of the intelligent robot hand and propose the method to realize Pick&Place as concrete task.

To achieve a human like grasping with a multi- fingered robot hand, the grasping force should be controlled without using information from the grasped object such as its weight and friction coefficient. In this study, we propose a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors. CoP sensors can measure the center position of a distributed load and the total load applied on the surface of the sensor, within 1 ms. These sensors are arranged on the fingers of the robot hand, and their effectiveness as slip detecting sensors is confirmed in tests of slip detection during grasping. Finally, we propose a method for controlling grasping force to resist tangential force applied to the grasped object using a feedback control system with the CoP sensor force output.