細径人工筋を用いたロボットハンドの遠隔操作に向けた一指の応答性・追従性調査

抄録

This paper presents a survey of the control performance of soft robot hands for teleoperation, and discusses future policies for teleoperation. Soft robot hands have the characteristics of being lightweight and flexible, and they are excellent at contacting various objects and people, and are expected to replace hard robot hands. However, soft robot hands have nonlinearity and hysteresis in their driving characteristics, and they are difficult to control. In this paper, PI control with angle feedback was constructed for soft robot hands, and the basic control performance of soft robot hands was investigated.