Development & Control of Master-Slave Robot Hand Driven by Pneumatic Actuator

We present an artificial muscle-type pneumatic actuator as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. However, in using a pneumatic actuator, a big compressor is needed. So the driving system also needs to be big, and enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We examine the characteristics of this pneumatic actuator, and develop a five-fingered robot hand with pneumatic actuators. Furthermore, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a joint model that has one degree of freedom using a pneumatic actuator, construct a control system for the joint model and verify its control performance. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We examine the characteristics of this pneumatic actuator, and develop a five-fingered robot hand with pneumatic actuators. Furthermore, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a joint model that has one degree of freedom using a pneumatic actuator, construct a control system for the joint model and verify its control performance.