抄録
An objective of this study is a development of the robot arm control system that can display grip force to the operator. To realize the objective, a grip force feedback system which consists of a robot arm, a force sensor and a microcontroller is experimentally developed. In our system, a grip force display uses a syringe pump and a stepping motor that control air pressure. In this display, displayed pressure depends on the number of rotations of a rotor of the stepping motor. A grip force is measured from a force sensor which is attached on the robot hand. And a grip force display is driven according to the measured grip force. In this paper, we assess the experimentally developed grip force feedback system.
