Development of balloon-driven robotic hand using pneumatic variable-stiffness finger

设计用于医疗保健和福利领域的机器人必须对人类环境安全，因为它们经常与人类接触。此外，机器人必须具有与人类相似的灵巧性。在这种情况下，我们开发了一种使用肌腱驱动系统的机器人手，它重量轻，灵活，具有与生物人手相同的自由度。此外，我们还设计了一种气动刚度改变手指的机械手，可以通过改变输入压力来改变表面刚度。通过预测函数控制，可以方便地控制手指的抓握力。

Robots that are designed for use in the fields of medical care and welfare must be safe for the human environment because they often come into contact with humans. Furthermore, robots must have dexterity that is similar to that of humans. Under these circumstances, we have developed a robot hand using tendon-driven system, which is lightweight, flexibility and has the same degree of freedom as biological human hands. Moreover, we have devised a robot hand with pneumatic stiffness change finger that can be changed surface stiffness by changing input pressure. And, the stiffness-changeable finger is able to control the grasping force easily by predictive functional control.