Control of humanoid robotic hand for humanoid communication system

摘要

The goal of our work is to construct a human-robot communication system in which a robot behaves according to its own "learning by watching" ability. In this study, we firstly introduce a light and compact robotic hand, which has a thumb and four fingers, and which can produce abduction and adduction motions between four fingers. We secondly investigated the fundamental characteristics of controllability, through which the hand moves according to desired time-series patterns of each angles. Finally, we proposed the control system of the robotic hand with a data-glove, where numbers of degrees of freedom are different and the positions of sensors and angles are also different between them.