多機能ソフトロボットハンドの湾曲・吸着圧制御と動作切り替えへの応用

抄録

The purpose of this study is to develop a soft robot hand that can grasp an object, which has various shape or characteristic. By combining bending motion of a soft actuator and vacuum suction using a vacuum ejector, the developed finger can both grasp objects and suck object surfaces. In addition, as a vacuum ejector is introduced in order to generate negative pressure, both bending and suction movements can be realized by using only a positive pressure source. In this paper, we describe the control method for bending and suction pressure in order to keep simultaneously the desired value and then discuss the method for switching grasp/suction movements according to an object.