肩の2自由度に柔軟関節を用いた6自由度柔軟関節肩義手のモーションプロセッサ2HVを使用した顔面方位制御システムの開発

概要

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The control of SDP is becoming an increasingly important problem as engineering advance in hardware production can made a SDP available in practical use. But flexible joint type SDP can not control exactly using advanced control for robot systems. θ1 and θ2 have special structure which cancel undesired vibration. In the present research, a flexible control system for SDP is proposed. Information of head orientation and shoulder motion are used as control signals in our systems. The control algorithm is so made as to move the terminal device of the prosthesis to the visual point by information of head orientation and shoulder motion. We propose a MotionProcessor2HV system for a SDP controller. The fundamental coordinate control system can move like human arm.