We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger configuration of the robot, at each time step based on forces measured on the robot's fingertips. Using this framework we are able to control the hand during different grasp types using only one variable, the grasp size, which we define as the distance between the tip of the thumb and the index finger. Instead of controlling the finger limbs independently, our controller generates control signals for all the hand joints in a (low-dimensional) shared space (i.e. synergy space). In addition, our approach is modular, which allows to execute various types of precision grips, by changing the synergy space according to the type of grasp. We show that our controller is able to lift objects of various weights and materials, adjust the grasp configuration during changes in the object's weight, and perform object placements and object handovers.

翻译：我们提出了一种用于配备指尖力传感器的灵巧机器人手的力反馈控制器。该控制器利用条件姿态协同框架，根据机器人指尖测量的力，在每个时间步生成抓取姿态（即机器人的手指构型）。借助该框架，我们仅需使用一个变量——抓取尺寸（定义为拇指与食指指尖间的距离），即可控制手部执行不同类型的抓取动作。与独立控制手指关节不同，该控制器在低维共享空间（即协同空间）中为所有手部关节生成控制信号。此外，本方法具有模块化特性，通过根据抓取类型切换协同空间，可执行多种类型的精密抓取。实验表明，该控制器能够抓取不同重量和材质的物体，在物体重量变化时调整抓取构型，并执行物体放置与物体交接操作。