Interlligent Control of Multi-fingered Hard and Arm Robot for Health-Support Considering Safety.

构建了4指- 13关节多指机器人手，在机器人手指的每个关节安装了小型电机，在每个指尖安装了力传感器。首先，建立基本的运动控制系统，实现对障碍物的抓取、操纵和再抓取。其次，考虑了多指机械手在医疗保健领域的应用。建立了专家按摩机器人系统。按摩。将专家治疗师的数据保存在计算机中，考虑到机器人手指的冗余性，由机器人手复制。应用压力片传感器测量治疗师手指受力。此外，在机器人手的每个指尖都安装了力传感器，以准确地反馈专家的按摩动作。通过大量的实验证明，目前的专家按摩机器人通过教学和回放的方式，可以实现专家按摩的动作。

Four fingered-thirteen joint multi-fingered robot hand was built, where small sized motor in each joint of robot finger and force sensor in each finger-tip were installed. First, basic motion control system were established to realize grasping, manipulation and regrasping for handling obstacles. Secondly, application of multi-fingered robot hand on health care fields was considered. Expert massage robot systems were built. Massage. data of expert therapist were saved in computer, and those data were reproduced by robot hand, considering redundancy of robot finger. Pressure sheet sensor was applied to measure the finger force of therapist. Furhermore, force sensor were installed at the each fingertip of robot hand to: feedback expert massage motion exactly. Through a lot of experiments, it was demonstai ated that the present expert massage robot by teaching and playback approach, can realize the expert massage motion.