人間同士の身体接触再現を目指した人体模倣ロボットハンド制御法

抄録

The purpose of our research is to reproduce human-to-human physical contact by robot because human feel happy through touching. We made an artificial hand with flesh and elastic joints aiming to reproduce the characteristics of human body. We examined PAM (Pneumatic Artificial Muscle) as actuator applicable to this hand. We considered that contact force sensation, which is one of the human somatic sensation, is important. We designed a control method of the contact force of the fingertip by PAM (in this paper, think about the fingertip force against the plane of a hard plate). The hand has nonlinear component. It is difficult to control analytically. By the experiment, we made a table of the inner target pressure of PAM that apllies desired contact force to the plane (we considered the angular relationship between the plane and the back of the hand), and we verified the table.