| Project/Area Number |
14350133
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | KYUSHU UNIVERSITY |
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Principal Investigator |
HASEGAWA Tsutomu KYUSHU UNIVERSITY, Graduate School of Information Science and Electrical Engineering, Professor, システム情報科学研究院, 教授 (00243890)
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| Co-Investigator(Kenkyū-buntansha) |
KURAZUME Ryo KYUSHU UNIVERSITY, Graduate School of Information Science and Electrical Engineering, Associate Professor, システム情報科学研究院, 助教授 (70272672)
桐木 利弘 九州大学, 大学院・システム情報科学研究院, 助手 (60264074)
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| Project Period (FY) |
2002 – 2004
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| Project Status |
Completed (Fiscal Year 2004)
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| Budget Amount *help |
¥6,200,000 (Direct Cost: ¥6,200,000)
Fiscal Year 2004: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2003: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2002: ¥2,000,000 (Direct Cost: ¥2,000,000)
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| Keywords | Robotic Hand / Multi-Jointed Finger / Soft Skin / Nail / Tactile Sensing |
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| Research Abstract |
The purpose of this study is to develop a dexterous robotic finger system composed of a novel fingertip with soft skin and hard nail. Its performance was also investigated. For this purpose, dexterous manipulation method has been developed utilizing elasticity of the soft skin and the human mimetic shape of the finger together with the integrated sensory information from a six-axis force/torque sensor mounted at the base of the fingertip link, a strain gauge attached at the base of the artificial nail, and joint encoders mounted at each joint. Results of the study are as followings.
1.Novel fingertip was designed and manufactured by combining a inner shell made of aluminum and soft skin made of silicon rubber. It was cleared that accuracy of the position measurement of contact point using the force/torque sensor is not deteriorated. Page turning task of paper sheet has been successfully executed.
2.Artificial nail has been developed and attached to the fingertip enabling tactile detection of small step of sub-millimeter on the surface.
3.A new method of discriminating edge and planar surface has been developed using the soft fingertip contact.
4.A new method of tactile sensing of edge direction has been developed using the soft fingertip.
5.A simulation system has been developed to evaluate manipulation motion composed of the fine manipulation function by the multi-fingered robotic hand and the global manipulation function by the arm and mobile body base.
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