Title :
An interfacing method between an artificial hand and human
Author :
Kuba, Yasuyoshi ; Wada, Mituo ; Endo, Hiroshi
Author_Institution :
Ind. Products Inst., AIST-MITI, Ibaraki, Japan
Abstract :
First, the flexible grasping motion control for a hand with two fingers is explained. For this control the reference grasping force must be decided in advance of the operation and the property of the reference grasping force is explained. Second, the way to extend the grasping control by including the operator to the control loop is explained. Through consideration of the property of the reference grasping force the design of the master hand mechanism is explained
Keywords :
control system synthesis; force control; man-machine systems; manipulators; artificial hand; flexible grasping motion control; human operator; man-machine systems; master hand mechanism; reference grasping force; robots; Fingers; Force control; Force sensors; Grasping; Humans; Industrial control; Motion control; Neural networks; Shape control; Tactile sensors;
Conference_Titel :
Robot and Human Communication, 1992. Proceedings., IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-0753-4
DOI :
10.1109/ROMAN.1992.253889
