Autonomous Selection of Closing Posture of a Robotic Hand Through Embodied Soft Matter Capacitive Sensors

Soft matter capacitive sensors are developed and integrated into the silicone skin of finger tips and palm of a robotic hand. Distributed sensing nodes are used for obtaining preliminary pre-touch information about the object that should be grasped. This includes conductive objects taking advantage of proximity sensing from changes in electric field and non-conductive objects taking advantage of p...