Force control of a robot hand emulating human´s grasping motion

This paper describes the force control of the robot hand which is modeled after the grasping characteristics of the human. In the case where the grasped object is moved rapidly, the human changes precisely the grasping forces according to the variations of the fingertip force perpendicular to the grasping direction. The grasping model, which depends on the objects acceleration, is constructed for application to the control system of the robot hand. As a result of the application, it is confirmed that the robot can compensate for the exerted inertial force with not only stable but also efficient and dexterous grasping