Year: 2025
Type: article
Abstract: 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.
Source: Micromachines
DOI: 10.3390/mi16050510
Authors: Yuuki Morohoshi, Mingcong Deng
Institution: Tokyo University of Agriculture and Technology
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,534
OpenAlex ID: W4409922615