The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2007
Session ID : 2A1-E11
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2A1-E11 Control of Robot Hand for Education/Training of Rehabilitation
Tetsuya MOURI, Makoto TANAHASHI, Haruhisa KAWASAKI, Takaaki AOKI, Yutaka NISHIMOTO
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Keywords: Robot Hand, Rehabilitation, Force Control
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Abstract
Students becoming therapists have less opportunities of repeated training with joint contractures. A robot hand for the education/training of rehabilitation has been developed. This paper presents a model of adhesion joints, which is one of the joint contractures. The robot hand imitating adhesion joints is controlled by the force control based on torque control. The effectiveness of proposed method is demonstrated by experiments.
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© 2007 The Japan Society of Mechanical Engineers
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