抄録
An innovative master-slave control system for an electronic prosthetic hand is proposed in this study. The conventional prosthetic hand has not force feedback and frequent battery replacement is required. The proposal system consists of two DC-motors connected in an electric circuit, and the two motors are located at the master and slave respectively. The system is characterized by simple structure, bidirectional controllability, energy recycling, and force feedback without force sensors. Furthermore, by using smaller actuator coefficient of the slave motor than that of the master motor, speed difference is produced and the system becomes battery replacement unnecessary according to that energy regenerative charging to a battery. In this report, these characteristics were confirmed experimentally using a basic circuit. And then an experimental prototype was developed and charging to a battery was shown.
