Abstract
The control method of the contact motion in a robot arm for life support has been developed. We used a 2 DOF robot arm and FSRs for the detection of the contact. If the gripper closes and the contact location is the same as the working direction, the arm doesn't stop or return the motion at the time of contact. If the gripper closes and the contact location is different from the working direction, it stops or returns the motion at the contact. We showed the effectiveness of the proposed control method in the basic motion experiment.
