| Project/Area Number |
14350120
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Toyohashi University of Technology |
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Principal Investigator |
TERASHIMA Kazuhiko Toyohashi University of Technology, Faculty of Engineering, Professor, 工学部, 教授 (60159043)
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| Co-Investigator(Kenkyū-buntansha) |
KITAGAWA Hideo Gifu Technical College, Department of Control, Associate Professor, 電子制御工学部, 助教授 (80224955)
MIYAKE Tetsuo Toyohashi University of Technology, Faculty of Engineering, Associate Professor, 工学部, 助教授 (60239366)
YASUDA Yoshihumi Toyohashi University of Technology, Sports Center, Professor, 体育・保健センター, 教授 (70126952)
YANO Ken'ichi Toyohashi University of Technology, Faculty of Engineering, Research Associate, 工学部, 助手 (90314088)
MIYOSHI Takanori Toyohashi University of Technology, Faculty of Engineering, Lecturer, 工学部, 講師 (10345952)
鈴木 薪夫 新東工業(株), メカトロ事業部, 研究員
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| Project Period (FY) |
2002 – 2003
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| Project Status |
Completed (Fiscal Year 2003)
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| Budget Amount *help |
¥10,900,000 (Direct Cost: ¥10,900,000)
Fiscal Year 2003: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 2002: ¥9,500,000 (Direct Cost: ¥9,500,000)
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| Keywords | Multi-fingered hand / Hearth Care Robot / Massage Robot / Grasping / Intelligent control / Arm and hand robot / マッサージ / 操り・つかみ制御 / ロボットハンド / 多指多関節ハンド / 掴み・操り制御 / 位置・力制御 / エキスパートマッサージロボット / ニューラルネットワーク / 逆システム / 福祉ロボット |
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| Research Abstract |
Four fingered-thirteen joint multi-fingered robot hand was built, where small sized motor in each joint of robot finger and force sensor in each finger-tip were installed. First, basic motion control system were established to realize grasping, manipulation and regrasping for handling obstacles. Secondly, application of multi-fingered robot hand on health care fields was considered. Expert massage robot systems were built. Massage. data of expert therapist were saved in computer, and those data were reproduced by robot hand, considering redundancy of robot finger. Pressure sheet sensor was applied to measure the finger force of therapist. Furhermore, force sensor were installed at the each fingertip of robot hand to: feedback expert massage motion exactly. Through a lot of experiments, it was demonstai ated that the present expert massage robot by teaching and playback approach, can realize the expert massage motion.
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