線形補間制御を用いた柔軟肉による操り動作の実現

Abstract

This paper presents generating some manipulations with soft skin on fingertips by interpolation control. In the aging society, symbiotic robots are expected and need to have versatile robot hands. In the conventional researches, active and passive flexibility were featured to adapt to actual situations in daily life and high-quality robot hand systems were developed. However, such robot hands are too hard to maintain or use in actual situations because of its taskspecified models and complicated mechanisms. Then, we proposed simple active and passive flexibility to Allegro Hand which is commercially available.