Abstract
Internal/external impedance control of a finger system is an interest research subject of robot systems. However, these studies on actual robotic finger system have not been reported although a few studies have been reported on a haptic interface applying a virtual object. This study shows the internal/external impedance control results of the actual robotic systems for grasping statically. When realizing the internal/external impedance control of the robotic finger system, coupling effects between the internal and external control algorithm using a conventional algorithm, which cannot hold an object under large external force. Therefore, the revised internal/external impedance control algorithm is proposed, which can hold the object under large external force.
