| 摘要 |
PURPOSE: To enable the operator to sense the true gripping force of a finger mechanism by providing a subtracting means for subtracting the restoring force of return springs from the driving force of slave actuators and feedback- inputting the subtraction value into master control levers. CONSTITUTION: The pressure P of slave cylinders 3 detected by a pressure sensor 12 is multiplied by K1 in an amplifier 42. The operating angleθ2 of fingers 1 detected by an angle sensor 30 is converted by a converter circuit 40 into a restoring force K2 f1 of return springs 4 required to energize the fingers 1 in the opened direction. An adder point 41 computes their deviation K1 P-K2 f1 as a true gripping force (f). The true gripping force (f) is input into a motor driver 22, which in turn activates a torque actuator 21 to drive master control levers 5 with this force (f) in the opposite direction to the gripping direction of a finger mechanism 10. This control allows the operator to sense at the fingertips the true gripping force (f) with the restoring force of the return springs 4 compensated.
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