Morohoshi Yuuki, Deng Mingcong
Department of Electrical Engineering and Computer Science, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi 184-8588, Tokyo, Japan.
Micromachines (Basel). 2025 Apr 27;16(5):510. doi: 10.3390/mi16050510.
Soft robots are attracting attention as next-generation robots because they enable flexible movement. The micro finger is a soft robot that can bend and is small and can grasp objects of various shapes, so it is expected to be applied to surgical robots. However, because it is small, sensors cannot be attached, making it difficult to measure force. This paper proposes impedance control of the tip of a micro finger by estimating the tip force with an observer. The control system is designed using coprime factorization and Youla-Kucera parameterization by operator theory. The effectiveness of the proposed method is confirmed through experiments.
软机器人作为下一代机器人正受到关注，因为它们能够实现灵活运动。微手指是一种可弯曲的小型软机器人，能够抓取各种形状的物体，因此有望应用于手术机器人。然而，由于其体积小，无法安装传感器，使得力的测量变得困难。本文提出通过观测器估计微手指尖端力来对其进行阻抗控制。利用互质分解和算子理论的尤拉-库cera参数化设计了控制系统。通过实验验证了所提方法的有效性。
