PURPOSE: To improve control response by a method wherein moment of a strain amount of a member formed integrally with a hand is decomposed into components having a distance between a strain center and a center of gravity point containing a grasping part and a distance between a strain center and a hand grasping point, the distances being respective arms, a working force at the grasping point is fetched, and the force of a hand is controlled.
CONSTITUTION: The center of a force sensitive sensor 17, i.e., the center of the strain of a member deformed by an external force from a hand 18 is P0, a center of gravity point as seen from the stain center P0, i.e., the exerting point of gravity M on the hand 18 and a grasping part 19, is P1, and the grasping point of the part 19 by the hand 18 is P2. A distance between P0 and P1 is L1 and a distance between P0 and P2 is L2. The moment component of a strain amount of the force sensitive sensor 17 is decomposed into first and second moment components having component distances L11 and L22 in a direction X being respective arms. Based on the two distances L11 and L22 and the two moment components, a working force at a grasping point P2 is fetched, and a force exerted on the hand 18 is controlled.
NAKADA YASUYUKI
YAMAMOTO YASUKI
OIKAWA KOICHI
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