抄録
Recently, research has focused on pneumatic robot. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. We develop a five-fingered robot hand with pneumatic actuators of low-pressure and low-volume. To control this hand in high accuracy, we construct the spring-damper model of the pneumatic actuator. We produce a I-link arm. We construct the model of 1-link arm that considers moment of inertia and the viscous friction coefficient. We construct a control system for 1-link arm. In addition, the effectiveness of the constructed model is verified by the experiment.
