| Project/Area Number |
17K13088
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
Ding Ming 奈良先端科学技術大学院大学, 先端科学技術研究科, 客員准教授 (40585840)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Project Status |
Completed (Fiscal Year 2019)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2019: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2018: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | ロボットハンド / ヒューマンロボットインタラクション / 撫でる動作 / 温度制御 / タッチケア / ロボット制御 / 福祉・介護用ロボット / 柔軟物操作 |
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| Outline of Final Research Achievements |
In this research, we developed a robot hand and generated the touching motion to mimic human’s stroking motion. We observed and measured the construction of human’s hand first and examined the requirements for realizing the comfortable stroking motion. The required stiffness, temperature, and such physical factors has been extracted for the development of the robot hand. Then, a robot hand which has these factors has been designed. It has same softness on the joints and skin as human’s hand. The contacting temperature can also be controlled same as human. Finally, we equipped the developed hand on the tip of a robot arm. The stroking motion could be generated based on the measured human motion. The physical and physiological effectiveness of has been verified in the experiment.
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| Academic Significance and Societal Importance of the Research Achievements |
本研究は人の手の構造を観察と計測し，抽出した接触動作に必要な手の機能をロボットハンドの開発により実現する方法を試した．人間の機能を有するロボットハンドの開発に関する重要な研究である．
開発したロボットハンドをロボットアームに取り付け，撫でる動作を生成し，多方面から動作の快適さを確認した．今後引き続きロボットと人の接触動作に関する研究の基礎になり，タッチケアロボットの実現に貢献できた．
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