Contact Point Identification by Active Sensing in Enveloping Grasp.

This paper deals with an identification of contact points between finger links and a grasped object in an enveloping grasp. The grasp has the following merits. One merit is that the grasp is firmer than a fingertip grasp and a distal link grasp. Another merit is that error of contact points is recognized because the object is grasped by inner links. However, it is difficult to identify contact points and contact forces. These parameters are necessary to control the object, not to destroy it, and to shift to an optimum grasp. We propose an analytical method for an identification of unknown parameters, such as contact points and forces, by active sensing in the enveloping grasp. A necessary and sufficient condition for the identification is provided.