腱駆動ソフトグリッパのセンサレス指先接触力推定

抄録

The soft gripper is possible to fit in the shape of grasped objects and realize safe handling due to its softness. On the other hand, modeling and control of the grasping force by the soft gripper has not been focused yet on so far even though it is also important for not injuring them. In this study, a sensorless tip force estimation of the cable-driven soft gripper is proposed because of the difficulty of implementing sensors to the soft body generally. The model to estimate the tip force is derived from the dynamics of the soft gripper based on the lumped parameterized system. Its effectiveness and limitation are demonstrated through numerical simulation results.