Allen Peter K. author Columbia University. Computer Science Miller Andrew T. author Columbia University. Computer Science Oh Paul Y. author Columbia University. Computer Science Leibowitz Brian S. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1997 English Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native-joint position and force sensing along with custom-designed tactile sensors and real-time vision modules to accurately compute finger contacts and applied forces for grasping tasks. Three experiments are described: integration of real-time visual trackers in conjunction with internal strain gauge sensing to correctly localize and compute finger forces, determination of contact points on the inner and outer links of a finger through tactile sensing and visual sensing, and determination of vertical displacement by tactile sensing for a grasping task. Robotics Piscataway, N.J. IEEE 1997 676 681 http://dx.doi.org/10.1109/ROBOT.1997.620114