Development of joint mechanism with stiffness adjuster and achievement of skillful robotic motion using it

在这项研究中，我们开发了一种具有可调节多向关节刚度的新型机械手系统。在我们的联合机构中，我们在两个电机驱动的圆盘之间插入了硅橡胶缓冲垫。这种缓冲垫可以通过控制其内部压力来快速调节关节刚度。我们通过几个实验研究了它的基本性能。此外，我们还分析了人类在投球时手指的运动。这个分析显示了人类如何根据目标位置控制每个手指。

In this study, we have developed a novel robot hand system with adjustable multi-directional joint stiffness. In our joint mechanism, we inserted Silicone Rubber Cushions between two motor driven disks. This cushion can adjust joint stiffness quickly by controlling its inside pressure. We investigated its basic performance through several experiments.Furthermore, we analyzed human finger motion during throwing a ball. This analysis shows that how human controls each finger according to the goal position.