关键词：机器人；遗传性；真实触觉；双边控制；链传动
摘 要：Recently, a real-world haptics which transmits a haptic sensation in real-world has been actively researched. Conventional research of real-world haptics often used low-degree of freedom system. However to transmit human-like haptic information, multi-degrees of freedom robot should be used. On the other hand, general hand robot as multi-degrees of freedom robot often used force sensor. The force sensor can not get the force information which is applied from other points. Therefore, in this research, bilateral control is applied to chain-driven hand robot. Bilateral control based on disturbance observer and reaction force observer can obtain all force information which is applied to robot. The chain-driven robot has some friction and backlash because of chain and gear. These causes of degradation haptic transmission. Thus, in this research, haptic sensation is transmitted by chained driven hand robot. Then, it is analyzed how haptic information the chain-driven robot transits by using transmissibility. Transmissibility is calculated by experiment.