Computer Controlled Bilateral Manipulator

抄録

Computer control of an artificial hand which is incorporated with the tactile sense and force reflection is studied. In this experimental system, a digital computer is linked to the analog-type position-servomechanisms of the artificial hand using D/A and A/D converters, so that the position references can be changed repeatedly in the direction of decreasing the measured error signals. To deal with the versatility of the operation, the software system consists of a supervisory program and many basic program modules which correspond to respective basic manipulations. Furthermore, a symbolic command language which is adequate for such a purpose is prepared. It has been shown that the greatest difficulties in carrying out the complex and dexterous manipulations such as inserting a pin into a hole, turning a crank, etc., are solved by introducing the concept of bilateral servomechanism into the programming of the control computer.