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R&D of wearable powered hand with human finger properties

Research Project

Project/Area Number 19760162
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionUniversity of Tsukuba

Principal Investigator

HASEGAWA Yasuhisa  University of Tsukuba, 大学院・システム情報工学研究科, 准教授 (70303675)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,790,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥390,000)
Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2007: ¥2,100,000 (Direct Cost: ¥2,100,000)
Keywords人間機械システム / 把持 / 支援 / ウエアラブル / 筋電 / コンプライアンス / 腱駆動 / アクティブ電極 / パワーハンド
Research Abstract

本研究では,主に力センサを必要としないパワーアシストを実現するために,人の把持特性に近い特性を実現する多関節腱駆動機構の確立し,また,生体電位信号に基づくスイッチング制御を用いることで,スムーズに支援と非支援時を直感的に切り替え可能なウエアラブルパワーハンドの設計製作を行なった.その後,実験により,指先での物体安定把持のみならず様々な物体形状へ柔軟は把持が可能であり,また,十分な把持力の支援が行われることを確認した.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (4 results)

All 2009 2008 2007

All Presentation (4 results)

  • [Presentation] 把持機能を有する上肢支援システム2009

    • Author(s)
      長谷川 泰久, 渡邉 航介, 三上 康之, 山海 嘉之
    • Organizer
      第14回ロボティクスシンポジア
    • Place of Presentation
      登別
    • Year and Date
      2009-03-17
    • Related Report
      2008 Final Research Report
  • [Presentation] Five-Fingered Assistive Hand withMechanical Compliance of Human Finger2008

    • Author(s)
      Yasuhisa Hasegawa, Yasuyuki Mikami,Kosuke Watanabe and Yoshiyuki Sankai
    • Organizer
      the 2008 IEEE International Conference on Robotics and Automation (ICRA2008)
    • Place of Presentation
      California
    • Year and Date
      2008-05-21
    • Related Report
      2008 Final Research Report
  • [Presentation] Five-Fingered Assistive Hand with Mechanical Compliance of Human Finger2008

    • Author(s)
      Yasuhisa Hasegawa, Yasuyuki Mikami, Kosuke Watanabe and Y oshiyuki Sankai
    • Organizer
      the 2008 IEEE International Conference on Rob otics and Automation (ICRA2008)
    • Place of Presentation
      USA, カルフォルニア
    • Year and Date
      2008-05-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Powered Hand System with Mechanical Compliance of Human Finger2007

    • Author(s)
      Yasuhisa, Hasegawa, Yasuyuki, Mikami
    • Organizer
      2007International Symposium on Advanced Intelligent System
    • Place of Presentation
      Korea
    • Year and Date
      2007-09-07
    • Related Report
      2007 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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