Seizing the items of various forms by utilizing the tactile sensing system

The problems of manipulating different objects are currently very important. The simplest manipulative task is seizing the item. The obvious way of solving this task is applying the strength of grip greatly exceeding the item’s gravitational force. However, such an approach cannot be applied to all the items because the application of such force can result in their significant deformation. This work considers the problem of delicate seizing the free-form object with the control by value of the strength of grip. We introduce a law of controlling the gripping device joints motion. A special feature of this law is joints speed sensing on the following step with account of both the strength of grip and the joint speed.

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