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Soft Catching with a soft finger


Using a high-speed multifingered hand, which can move at 180[deg]/0.1[s], a high-speed catching of a falling ball was achieved. However it was impossible to catch a fragile object, because a collision made a large impact with it. In this paper, a high-speed catching of a fragile object, like an egg, is achieved, using a high-speed hand with a gel fingertip and using shock absorption of gel in combination with visual feedback control.


1.0 times speed

0.002 times speed


  1. Yoshio Ugai, Masahiko Onishi, Akio Namiki and Masatoshi Ishikawa: Soft catching using high-speed vision and soft fingertips, 5th SICE System Integration Division Annual Conference (SI2004), pp. 1146-1147 (2004)
  2. Masahiko Onishi, Akio Namiki, Koichi Hashimoto and Masatoshi Ishikawa: Robotic Catching Using a High-speed Hand with soft fingertips, 2004 JSME Conference on Robotics and Mechatronics (2004)
Ishikawa Senoo Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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