協調作業における人の特性を模擬する2指ロボットグリッパの制御法 Control Scheme of a Two-Finger Gripper for Emulating Human Characteristics in Cooperative Tasks
This paper discusses a proposed two-finger gripper for robot human cooperation, which can be a key for future assistive technology. The gripper consists of two soft fingers having a total of ten degrees of freedom. A two-finger gripper was chosen because humans perform many tasks using only two fingers and its control is simpler than a three finger hand, for robot human cooperation. The control system of the gripper was designed based on human control characteristics so that it is human friendly. An experiment was carried out in which two humans performed a task and based on it an impedance model is approximated. A dynamic control system was then designed incorporating the human impedance characteristics. During grasping both the internal forces and the motion forces applied by the fingers are simultaneously controlled. Hence, the robot can stably grasp an object and also follow the human motion. Finally a two-finger robot human cooperation simulation was carried out to demonstrate the effectiveness of the proposed control method.
ライフサポート 15(2), 39-46, 2003-07-05
The Society of Life Support Engineering