Abstract
This paper shows experimental results for a hybrid contact force/position control method using 5 D.O.F. soft robotic thumb under 3D rolling constraints and fingertip's deformation due to its softness. One of the authors has previously proposed one of the hybrid contact force/position control method without use of any external sensing, called "Blind Touching" control. By using our controller, a desired position and a contact force can be realized without switching any control law, even though both contact and noncontact phases are included into a desired movement. The usefulness of our proposed control method is shown through some experimental results.
