Impedance force control of robot hand using pressure sensor

The progress in robotic technology has led to greatly improved abilities of the robot hand. However, its complex hand movements require a more complex structure. In this study, we attempted to simplify the robot hand structure by using bilateral control. In our experimental setup, when the robot hand grips the object, a sensing signal is fed back to the robot operator. The use of a pressure sensor allows more accurate judgment on whether or not the robot hand touched the object.