フィンガとマニピュレータの個別アドミッタンス制御におけるタスク実行時のフィンガ可操作度補償効果

概要

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In this paper, we propose “double admittance control” for a finger & manipulator system, which can realize different admittances of both the finger and the manipulator. The proposed method can realize very natural motion to constrained tasks and can compensate a finger-manipulability under the admittance control. Although our previous method can compensate the finger-manipulability under finger admittance control during the constrained task by using compensate manipulator motion depending on an optimum theory, these results can realize only artificially-made motions. On the other hand, as the new proposed method uses natural dynamic effects, its system is very simple and its motion is very natural. Consequently, this new proposed system has a possibility to extend the manipulator technology to biomechanical control field.