滑車機構を用いた丸ベルト捩り駆動多関節ハンドの設計と評価

抄録

In this paper, we designed a articulated robotic hand using round-belt twist-mechanism with movable pulley whose mechanism combined with wire-drive and Twisted round-belt Actuator(TbA). This robotic hand mainly has three developed features compared with a previous study. (1)We adopted movable pulley to improve fingertip force. (2)We added a joint to make number of the robotic finger joints same as number of human finger joints. (3)We replaced acceleration sensors with encoders to stabilize signals of joint angles. First, we explain the mechanism of this robotic hand which are mentioned above. Second, we show experimental results of the tracking control for step-like force and sinusoidal force references in the variation of frequency. Finally, we apply the novel sensor-less fingertip force control method to this robotic hand and demonstrate the fingertip force control for step-like force references.