| 摘要 |
PROBLEM TO BE SOLVED: To provide a gripping device capable of stable gripping control, by providing highly reliable data by shortening gathering time of contact pressure, while reducing a burden of an information processing system by efficiently gathering the contact pressure of a contact sensor, without reducing areal resolution in detecting the contact pressure by the contact sensor. SOLUTION: This gripping device is composed of a multi-finger hand type gripping means having a plurality of fingers, a finger driving means, the contact sensor 5 for detecting the contact pressure, an initial sensor list 14C, a sensor list setting part 12C, a sensor list updating part 12d, a sensor information gathering part 12a for gathering the contact pressure on the basis of the sensor list, and a gripping control part 12b for arithmetically operating and providing finger driving control information for the driving means. COPYRIGHT: (C)2005,JPO&NCIPI
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