2A1-H04 多関節腱駆動機構による指先剛性制御(ワイヤ駆動系の機構と制御)

概要

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This paper introduces a poly-articular tendon-driven system to simulate compliance properties of human finger. The compliance of a human finger in orthogonal direction to grasping force decreases while a grasping force increases. Besides, the compliance is not sensitive to direction of fingertip displacement when an external force affect to the fingertip. These properties contribute to stability of the grasping object. The conventional joint drive system does not have these properties mechanically. As a result, the desired compliance is realized by compliance control with a feedback control loop. Our proposed poly-articular tendon drive system is embedded into an exoskeleton assistive hand that augments grasping force of a wearer. In this system, the compliance control is difficult because of no force sensor installed. These properties are however necessary not only grasping stability but also avoidance of discrepancy between finger motion and exoskeleton assistive system motion. Through numerical simulations and experiments, it is confirmed that the compliance properties are mechanically realized by our proposed poly-articular tendon driven system.
一般社団法人日本機械学会の論文
2008-06-06