Co mpu t ing Sys te ms

La bo ra to r y o f MTA- SZTAKI The majority of studies on precision grasps agree that tactile sensing is indispensable for the fine, gentle grasping of unknown, fragile objects. Still only a few papers deal with tactile sensors capable of sensing not only normal forces, but shear forces, and toques as well. This study concerns soft finger contact, where the friction allows it to resist tangential forces and moments up to a friction limit. An experimental system is presented, comprising: (1) Two 3D tactile arrays (2*2 taxels (tactile pixels) each) mounted on a two-fingered robot hand, (2) a closed loop controller. This arrangement allows detection and classification of typical tactile events, improving the control of grasping