Control apparatus of multi-finger hand and grasping method using the same

A grasping method of a multi-finger hand comprising:

• calculating positions of tips of plural actual fingers;
• calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers;
• judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers;
• and
• controlling joint torques of the respective actual fingers such that a motion of the central position of the virtual object is achieved as if the central position of the virtual object were connected to a target central position of the virtual object by a virtual spatial spring, motions of the tips of the plural virtual fingers are achieved as if the tips of the plural virtual fingers were connected by virtual springs based on the central position of the virtual object, and motions of the tips of the plural actual fingers are achieved as if the tips of the plural virtual fingers were connected to the corresponding tips of the plural actual fingers by virtual spatial springs.