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Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The Problem: The human hand is the principal organ for the reception of and reaction to tactile stimuli, a perception that guides our repertoire of manual functions. However, the integration of an analogous sensing suite into a robotic platform poses a major technological challenge. Our goal is the design and control of a prototype for anthropomorphic manipulation research based on high resolution artificial taction. The problem is constrained to the active detection of multi-point pressures applied to the surface of a robot finger.