Hybrid impedance and force control for massage system by using humanoid multi-fingered robot hand

2007 ◽  
Author(s):  
Panya Minyong ◽  
Keisuke Mouri ◽  
Hideo Kitagawa ◽  
Takanori Miyoshi ◽  
Kazuhiko Terashima
Keyword(s):  
Force Control ◽  
Robot Hand

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Force Control of One-Link Robot Hand with Rubbertuator. Application of Digital Sliding Mode Control.

1993 ◽  
Vol 11 (3) ◽  
pp. 461-467 ◽  
Author(s):  
Tetsuya MATSUSHITA ◽  
Shinichi SAGARA ◽  
Tadashi YAMASHITA ◽  
Takao TANIGUCHI
Keyword(s):  
Sliding Mode Control ◽  
Force Control ◽  
Sliding Mode ◽  
Robot Hand ◽  
Mode Control

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

scholarly journals Force control of a robot hand emulating human's grasping behavior.

1999 ◽  
Vol 35 ◽  
pp. 212-213
Author(s):  
Nobuaki Nakazawa ◽  
Ryojun Ikeura ◽  
Hikaru Inooka
Keyword(s):  
Force Control ◽  
Robot Hand

2A2-B22 Robot hand tele-operation system switching position control and force control with contact information

2009 ◽  
Vol 2009 (0) ◽  
pp. _2A2-B22_1-_2A2-B22_2
Author(s):  
Yu SAITO ◽  
Daisuke MAEMOTO ◽  
Futoshi KOBAYASHI ◽  
Fumio KOJIMA ◽  
Hiroyuki NAKAMOTO ◽  
...  
Keyword(s):  
Force Control ◽  
Position Control ◽  
Robot Hand ◽  
Operation System ◽  
Contact Information ◽  
System Switching
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