In the case of the visually impaired, in order to pick up an object, the entire shape is grasped while straddling the object first. When we grasp the characteristics of the object sufficiently by using the tactile sense of the hand, we touch the point which is the center of gravity and listen to the object once. When you want to perform object-graping with only the tactile sense under the conditions of other senses, such as vision, a series of actions is repeated. This paper deals with the behavior based control study of the robot hand using the tactile sense and applied to the 4 DOF hand developed by our laboratory by evolving the subsumption architecture (SA) proposed by R.Brooks.

ABSTRACT
 1. 서론
 2. 본론
  2.1 배경 지식
  2.2 제안된 구조
  2.3 4 자유도 손(4 DOF Hand)
  2.4 파지가능도(graspability)에의한 물체의 파지 실험
 3. 결론
 References

• 이정익(Department of Mechanical Design, Inha Technical College) | Jeong-Ick Lee Corresponding Author