Abstract
In order for robots to work around the human, soft stiffness of robots is required for safety. As control methods to realize a robot soft grasp, internal/external impedance and admittance controls were proposed. Comparison results show that responses of the internal/external impedance control become low due to movement difficulty of gears because it has no closed feedback loop compensation. Therefore, the closed feedback loop was studied in the internal/external impedance control in this study. Cyclic finger movement experiments show the effectiveness of this closed loop control. The results were confirmed that its characteristics were improved by P compensation control, but it cannot be enough improvement.
