腱駆動機構を有するロボットハンドによる張力制御を考慮したバイラテラル制御

カテゴリ: 部門大会

論文No: OS7-1-8

グループ名: 【C】2023年電気学会電子・情報・システム部門大会

発行日: 2023/08/23

タイトル(英語): Bilateral Control with Tension Control Considering Joint Torque for Robotic Hand with Tendon-driven Mechanism

著者名: 元井 直樹（神戸大学）,元木 碧波（神戸大学）

著者名(英語): Naoki Motoi (Kobe University),Aoba Motoi (Kobe University)

キーワード: モーションコントロール|バイラテラル制御|腱駆動機構|ロボットハンド|装着型システム|Motion control|Bilateral control|Tendon-driven mechanism|Robot hand|Wearble system

要約(日本語): This paper proposes a bilateral control with a tension control considering joint torque for a tendon-driven robotic hand. The robotic hand has two joints and two degrees of freedom, and is driven by three tendons. Tendon arrangement in the robotic hand is designed in terms of joint torque output. In tendon-driven mechanism, tension control is necessary for power transmission. This research achieves a tension control
considering the joint torque that fluctuates depending on the hand posture. In addition, the bilateral control with tension control was implemented. The effectiveness of the proposed method is further demonstrated through experimental results.