@article{oai:kanazawa-u.repo.nii.ac.jp:00009415,
 author = {張, 勤 and 神谷, 好承 and 関, 啓明 and 疋津, 正利 and 野村, 久直},
 issue = {9},
 journal = {精密工学会誌 = Journal of the Japan Society for Precision Engineering},
 month = {Jan},
 note = {This paper describes details of a set of robotic fingers driven by stepping motors. Robotic fingers need position, velocity and force control realized by stepping motor. New control system proposed in this study contains a generating system of real-time pulse series for driving stepping motor in the control loop. So, real-time sensor feedback can be achieved in the controlling stepping motor. When the robotic fingers complete a work as an operation, velocity controlled robotic fingers must change to the another control mode such as position or force control. This study treats a method how to provide force control to a robotic finger, and shows a method how to supply a sensor feedback to a stepping motor. It is found that a force controlled robotic finger shows a good performance of parts handling.},
 pages = {1412--1416},
 title = {ステップモータによる力制御の実現とロボットフィンガへの応用},
 volume = {66},
 year = {2000}
}