Abstract
A robot hand, especially one with multiple fingers, is necessary for conducting various tasks in daily life. Realization of the robot hand making flexible human-like motions by the design inspired by the human musculoskeletal system is expected. It is not only used as a hand of a humanoid robot but also used as a prosthetic hand. However, constructing a model and applying a conventional controller to it are difficult, due to its complicated structure. Therefore, one of the obstacles in developing a robot hand is designing a controller. In the present study, a bioinspired controller is used to control a five-fingered robot hand with a musculoskeletal system, and performance of the controller is demonstrated by conducting the position control of a finger.
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