抄録
A robot system cooperation with human instruction using finger movement is proposed in this research. A two-dimensional robot moves in cooperating with the motion of human finger which corresponds to the instruction by a human to move the robot in the system. By adopting this method, smooth movement trajectory of human finger can be reflected to the motion characteristics of the robot, which is acceptable to human psychology, and the motion trajectory of the robot can adjusted by the human arbitrary in real time. Four modes are considered to make this proposed system more practical one as follows. Mode 1 is implementation of cooperating movement, mode 2 is interrupt of the cooperating motion, mode 3 is adjustment of the gain between the movement of the finger and the movement of the robot, and mode 4 is initialization of the size of the gain.
