2P1-D27 筋拮抗比と筋活性度を用いた空気圧駆動5指ロボットハンドの制御 : 1関節指モデルの角度制御

概要

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Recently, research into robots that coexist with people in areas such as the service and medical industries is active. Such robots need both safety and flexibility. To satisfy this demand, a pneumatic actuator is appropriate because it has natural compliance and is lightweight. Our research focuses on a five-fingered robot hand using low-pressure driven pneumatic actuators. This robot imitates the structure of the human hand, which has antagonistic muscle pairs for each joint. We proposed a control method using the following parameters: "antagonistic muscle ratio" and "antagonistic muscle activity". In order to investigate validity of the proposed method, we implemented it in one-degree-of-freedom finger model and conducted joint angle control.
一般社団法人日本機械学会の論文