The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

1. 서 론
2. 사람 손의 여유자유도
3. 힘 제어 이론
4. 영공간 분석
5. 실험 및 고찰
5. 결 론
Reference

• 이건규(Mechanical Engineering, SungKyunKwan University, Master course) | Gun Kyu Yee
• 김용범(Mechanical Engineering, SungKyunKwan University, Combined course) | Yong Bum Kim
• 김안나(Mechanical Engineering, SungKyunKwan University, Master course) | ANNA KIM
• 강기태(Mechanical Engineering, SungKyunKwan University, Combined course) | Gitae Kang
• 최혁렬(Mechanical Engineering, SungKyunKwan University, Chunchun-Dong, Jangan-Gu, Suwon, Korea) | Hyouk Ryeol Choi Corresponding Author