• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Development of Grasping Technique with Small Force by Controlling Sweat and Fingerprints

Research Project

Project/Area Number 18K18831
Research Category

Grant-in-Aid for Challenging Research (Exploratory)

Allocation TypeMulti-year Fund
Review Section Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
Research InstitutionKanazawa University

Principal Investigator

Watanabe Tetsuyou  金沢大学, フロンティア工学系, 教授 (80363125)

Project Period (FY) 2018-06-29 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2020: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2019: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords摩擦可変 / 表面テクスチャ / ロボットハンド / 摩擦制御 / ロボット / マニピュレーション / 汗・指紋制御 / 微小力
Outline of Final Research Achievements

In this study, we attempted to establish a new methodology for object grasping and manipulation by manipulating the surface friction, utilizing the surface texture and liquid film. First, we developed a mechanism to change the surface friction by using a texture that gives high friction in both dry and wet conditions, and a mechanism that exudes a liquid with lubricating effect on the surface. We developed a robot hand equipped with this mechanism, and realized precise object placement and in-hand manipulation to change the holding position of an object by liquid exudation. In the case of soft materials, the size of the contact area corresponds to the size of the friction, and thus we developed a mechanism to change the friction by changing the contact area (texture). The robot hand equipped with this mechanism was used to manipulate tubes.

Academic Significance and Societal Importance of the Research Achievements

ロボットが扱う対象は“乾燥”していることが暗黙の前提であったが,実際には,食品,台所用品,工業用部品,臓器など液体にまみれている物体も数多く存在する.本研究で確立した,濡れていても乾いていても摩擦を自在に変えながら物体をハンドリング・マニピュレーションの基礎技術を応用することで,これまでロボットでは扱えなかった対象が扱える可能性が生まれた.今後,摩擦制御方法ならびにそれを用いた物体ハンドリング・マニピュレーション技術をさらにより高度化することで,人の生活の近くで人の作業を代替・サポートするロボットの基盤技術となることが期待される.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (18 results)

All 2020 2019 2018 Other

All Journal Article (6 results) (of which Peer Reviewed: 5 results) Presentation (7 results) (of which Int'l Joint Research: 1 results,  Invited: 2 results) Remarks (5 results)

  • [Journal Article] Sensing and Control of Friction Mode for Contact Area Variable Surfaces (Friction-variable Surface Structure)2020

    • Author(s)
      Nojiri Seita、Yamaguchi Akihiko、Suzuki Yosuke、Tsuji Tokuo、Watanabe Tetsuyou
    • Journal Title

      Proceedings of the IEEE International Conference on Soft Robotics (RoboSoft)

      Volume: - Pages: 215-222

    • DOI

      10.1109/robosoft48309.2020.9116019

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Deformable fingertip with a friction reduction system based on lubricating effect for smooth operation under both dry and wet conditions2019

    • Author(s)
      Mizushima Kaori、Suzuki Yosuke、Tsuji Tokuo、Watanabe Tetsuyou
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 10 Pages: 508-519

    • DOI

      10.1080/01691864.2019.1608299

    • Related Report
      2019 Research-status Report 2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Development of Contact Area Variable Surface for Manipulation Requiring Sliding2019

    • Author(s)
      Nojiri Seita、Mizushima Kaori、Suzuki Yosuke、Tsuji Tokuo、Watanabe Tetsuyou
    • Journal Title

      Proceedings of the IEEE International Conference on Soft Robotics (RoboSoft)

      Pages: 131-136

    • DOI

      10.1109/robosoft.2019.8722754

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Manipulation with Soft Robotic Hands2019

    • Author(s)
      Watanabe Tetsuyou
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 37 Issue: 1 Pages: 30-33

    • DOI

      10.7210/jrsj.37.30

    • NAID

      130007579749

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2018 Research-status Report
  • [Journal Article] Multi-fingered robotic hand based on hybrid mechanism of tendon-driven and jamming transition2018

    • Author(s)
      Mizushima Kaori、Oku Takumi、Suzuki Yosuke、Tsuji Tokuo、Watanabe Tetsuyou
    • Journal Title

      Proceedings of the IEEE International Conference on Soft Robotics (RoboSoft)

      Volume: 1 Pages: 376-381

    • DOI

      10.1109/robosoft.2018.8404948

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Survey of Robotic Manipulation Studies Intending Practical Applications in Real Environments2018

    • Author(s)
      Watanabe Tetsuyou、Yamazaki Kimitoshi、Yokokohji Yasuyoshi
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 36 Issue: 5 Pages: 338-347

    • DOI

      10.7210/jrsj.36.338

    • NAID

      130007404888

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Presentation] 摩擦制御可能な表面をもつロボットハンドの開発2020

    • Author(s)
      清水 健介,水島 歌織,鈴木 陽介,辻 徳生,渡辺 哲陽
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 食器ハンドリング用グリッパの開発2020

    • Author(s)
      竹下 幸来,水島 歌織,鈴木 陽介,辻 徳生,渡辺 哲陽
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 摩擦モードを推定可能な表面摩擦制御機構の開発と性能評価2020

    • Author(s)
      野尻 晴太,山口 明彦,鈴木 陽介,辻 徳生,渡辺 哲陽
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 滑りを伴う物体操作のための接触面積可変機構のメカニズムと接触面センシング2019

    • Author(s)
      野尻 晴太,山口 明彦 (東北大学 ),水島 歌織,鈴木 陽介,辻 徳生
    • Organizer
      JSMEロボティクスメカトロニクス2019
    • Related Report
      2019 Research-status Report
  • [Presentation] 乾潤いずれの状態でも摩擦可変な表面をもつ柔軟ロボット指の開発2019

    • Author(s)
      清水 健介,水島歌織,鈴木陽介,辻徳生
    • Organizer
      第20回システムインテグレーション部門講演会(SI2020)
    • Related Report
      2019 Research-status Report
  • [Presentation] Friction design for deformable fingertips under both dry and wet conditions2018

    • Author(s)
      Tetsuyou Watanabe
    • Organizer
      Italian Institute of Technology
    • Related Report
      2018 Research-status Report
    • Invited
  • [Presentation] Delicate grasping by highly deformable fingertips2018

    • Author(s)
      Tetsuyou Watanabe
    • Organizer
      IEEE International Conference on Soft Robotics (RoboSoft) Workshop: Soft haptics: what has been done and what can be done
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research / Invited
  • [Remarks] A friction reduction system

    • URL

      https://techxplore.com/news/2019-05-friction-reduction-deformable-robotic-fingertips.html

    • Related Report
      2019 Research-status Report
  • [Remarks] 物体をつかんだロボットの指先を動かすことなく物体を放す制御方法を開発

    • URL

      https://www.kanazawa-u.ac.jp/rd/69209

    • Related Report
      2019 Research-status Report
  • [Remarks] Robot control system

    • URL

      https://www.kanazawa-u.ac.jp/latest-research/69210

    • Related Report
      2019 Research-status Report
  • [Remarks] IEEE Video Friday

    • URL

      https://spectrum.ieee.org/automaton/robotics/robotics-hardware/video-friday-atlas-jogging-driveai-launch-ocado-robotic-warehouse

    • Related Report
      2018 Research-status Report
  • [Remarks] 把持物を滑らせ放すロボハンド 金沢大が開発

    • URL

      https://www.nikkan.co.jp/articles/view/00477333

    • Related Report
      2018 Research-status Report

URL: 

Published: 2018-07-25   Modified: 2022-01-27  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi