A micro operation hand and its application to microdrawing

Abstract

Force control is required in dexterous micro operation of small mechanical parts and biological objects. Our research aims at the development of micro operation hands. For this purpose a finger subsystem with a lever mechanism and magnetic actuators were developed and applied to contact motion task. In this paper, characteristics of the mechanism and actuators are analyzed. A motion control system which compensates for disturbances is designed and applied to drawing tasks of micro figures.