| Budget Amount *help |
¥43,810,000 (Direct Cost: ¥33,700,000、Indirect Cost: ¥10,110,000)
Fiscal Year 2012: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2010: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2009: ¥26,780,000 (Direct Cost: ¥20,600,000、Indirect Cost: ¥6,180,000)
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| Research Abstract |
The obtained results in this study are following;
(1) some stability conditions of multi-fingered hand grasp (three-dimensional case) has been clarified theoretically, and a decision method has been proposed which searches optimal grasping positions and forces.
(2) A curved surface tactile sensor with the upper arm size has been applied to guide a nursing care robot.
(3) It has been succeeded that the single hand robot with three multi-fingers manipulates scissors and writes calligraphy and penmanship, and the dual hands robot with multi-fingered hands makes the folded paper.
(4) A dual-arm robot systemwas composed of two arm robots (each has 6 degrees of freedom) each of which has a hand with three fingers (each has 3 degrees of freedom) to be used for the practical applicationverification of issues above, but such flexibility of the fingertip and allocation of jointdegrees of freedom have emerged as new challenges.
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