| 研究実績の概要 |
We have further developed our tactile sensors. 368 3-axis tactile sensors cover the robot hand. Furthermore, we have further developed a robot hand that allows to cover the palmar side of the robot hand nearly completely with thick skin. We have also further developed the tactile sensors for human hands, which now allow measuring the contact position in addition to the contact force on the fingertip without covering the human skin that is in contact with the object. Moreover, we have used the tactile sensors embedded in robot hands and grippers for tactile AI. The robot was able to perform various in-hand manipulations, detect object properties, and predict grasp stability as well as detect slip. We use, implement and improve state of the art machine learning methods such as attention mechanisms, ensemble learning and graph neural networks.
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