ハンド内部の流体量制御による受動変形柔軟ハンド最小負荷包み込み制御

抄録

Holding soft objects such as strawberry by conventional robotic hand without any damage is not so easy. The paper proposes a passively deformable soft hand using fluid volume control mechanism to hold such a soft object. The hand includes soft bag and air inside the bag. The soft bag deforms its shape according to the shape of held object. The air volume is changed when the hand is holding an object so as to keep the air pressure constant value. It leads to extend the contact area with object, which lowers the contact pressure with the object. The paper shows an ability to extend contact area by the proposed passively deformable soft hand and control of air volume.