1A1-A07 Robot Hand using Compact Ultrasonic Motors having 20-degree-of-freedom

摘要

In this paper, we controlled a robot hand using compact ultrasonic motors having 20 degrees of freedom. The robot hand has five fingers with 20 joints. Size and weight are reduced by using compact ultrasonic motors. A robot hand imitating size of human hand can be used as slave hand in master-slave system viscerally. A purpose of this study is confirming availabilities of the robot hand by building up control system. Step response is conducted and frequency response is measured. Then grasping experiment and experiment as a master-slave system are conducted. From these experiments availabilities of the robot hand is confirmed.