Robot hand

摘要

A robotic hand is provided with an array of movable spring loaded fingers and an assembly opposed to the fingers. An object to be grasped by the hand is pushed by the assembly toward and into contact with the fingers. An electrical signal is produced when each finger is contacted by the object. The time intervals between various finger contacts are measured and used to calculate the distance that the object moved during those intervals. These distances provide information about the shape of the object which can be used to differentiate between objects of various shapes.