A Verification of a Control System of Multi-fingered Hands for Realizing Task Oriented Software Synergy

Abstract

This paper proposes a concept of the task-oriented software synergy (TOSS) for anthropomorphic hands and designs a control system of multi-fingered hand that realizes TOSS. By using TOSS, we can perform various tasks with fewer principal components than those of conventional synergies by switching synergy corresponding to each task. We show that TOSS can be realized with lower approximation error and higher contribution rate than the conventional synergy for a given task. Moreover, we verified through physics simulation that an adverse effect of dimensionality reduction is smaller than conventional synergy. These results show that, by using TOSS, we can properly perform various tasks with fewer inputs.