Control Scheme of a Two-Finger Gripper for Emulating Human Characteristics in Cooperative Tasks

• Obinata Goro

  Dept. of Mechanical Engineering, Nagoya University

• Dutta Ashish

  Dept. of Mechanical Engineering, Akita University

Bibliographic Information

Other Title

• 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

Abstract

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.

Journal

• Journal of Life Support Engineering

  Journal of Life Support Engineering 15 (2), 39-46, 2003

  The Society of Life Support Engineering

Keywords

• Key words: two-finger gripper, robot human cooperation, human friendly, active force closure, impedance control

Details

• CRID: 1390282679343642240
• NII Article ID: 10013403021
• NII Book ID: AA11947931
• DOI: 10.5136/lifesupport.15.39
• ISSN: 18845827
• ISSN: 13419455
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed