Experimental Verification of Robot Hand Operation using the Power Packet Dispatching System

Abstract

A power packet dispatching system for a robot hand operation is proposed in this paper. The power packet dispatching system is a power distribution system in which DC voltage is delivered with an information tag in the same power line. To include the information in the packet, the switching speed of the switching device should be over the megahertz range. A SiC or GaN device is an attractive solution to realize a power packet system. The operation of a robot hand using the power packet dispatching system is designed and evaluated in this study. Wi-Fi feedback control is introduced to provide feedback of the pressure sensor information of each finger. The design concept to interface the power and information simultaneously is described and the proposed method is evaluated.