713 Development of Pneumatic Master-Slave Hand and Joint Control

Abstract

Recently, research has concentrated on pneumatic robot hand. Here, we develop a pneumatic actuator driven by low pressure. We develop a five-fingered robot hand by using the pneumatic actuator, and we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. Next, we make a two kind of 2-link arms that has one degree of freedom using the pneumatic actuators. We construct a control system for the 2-link arm and verify its control performance.