弾性要素を含むフィンガ機構における最適な指先力制御手法

抄録

In recent years, there are many researchs related robotic hands. The most important ability on robotic hand was accurate and quick repeatable movements so far. Therefore, it was enough with gripper type as a robotic hand shape in most cases. But most of human-like robotic hands are developed for specific purposes not for general purpose. In the previous study, Introduces Human-like 3-DOF Robotic Finger using mechanism named Twisted round-belt actuator which yields contraction forces produced by twisting an elastic round-belt. Accordingly, In this paper, we introduce an optimal fingertip force control method for a three ‐ fingered robot with a newly designed module(VpSM). This module can eliminate the irregular torsion phenomenon of the circular actuator (TbA). Experimental results of tracking control of step force and sinusoidal force are presented. We also demonstrated the optimal fingertip force control method for 1 Hz, 3 Hz and 5 Hz sine wave.