ソフトカバー付きロボットハンドのための把持力計測

抄録

To play an active part in our daily life, a robot with a soft cover that can softly touch people has been researched and developed. Unlike industrial robots, these robots have our daily life as the main activity environment, so there are many opportunities to interact with humans. For this reason, research on ensuring human safety using tactile sense is important, and the ability to communicate through direct contact with humans is required.

On the other hand, robots that support human daily life often require tasks the ability to grasp objects. However, the force transmission via the soft cover involves nonlinearity, which makes it difficult to control the motion by force feedback.

In this research, we propose a method of correcting the output of the tactile sensor that can be realized and assumed the object gripping motion of the robot hand covered with the soft cover.