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History of Robotics Research and Development of Japan1994BusinessCompliant Motion Control of Arm-Hand System

In 1988, Yaskawa Electric Corporation developed a small actuator that contained a motor, encoder, and gear in a 30-mm square space. By connecting the actuators with fittings, multi-fingered hands can be constructed in different forms. Force sensors are installed on the tips of fingers. This allows the robot to be used to test control of a hand with the use of force control that is required for work involving touching objects.

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Correspondence papers

Mayumi Umetsu：Compliant Motion Control of Arm-Hand System

Yaskawa Technical Review, 224th issue, Vol.58, No.3, pp.183-188, 1994 (in Japanese).

Related papers

[1] S. Morimoto, M. Kawabe, and M. Umetsu: “Impedance Control of Multi-fingered Hands, Proceedings of 11th Annual Conference of Robotics Society of Japan, pp.69-70, 1993(in Japanese).

[2] M. Umetsu and T. Komata: Manipulation System with a Multifingered Hand, Proceedings of 12th Annual Conference of the Robotics Society of Japan, pp.611-612, 1994(in Japanese).

[3] Y. Kakisaka and M. Umetsu: Robot Work Skill with Multifingered Hand, Yaskawa Technical Review, 235th issue, Vol.61, No.2, pp.97-105, 1997(in Japanese).

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