| Project/Area Number |
21300082
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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 |
Sensitivity informatics/Soft computing
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| Research Institution | Nagoya Institute of Technology |
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Principal Investigator |
FUJIMOTO Hideo 名古屋工業大学, 大学院・工学研究科, プロジェクト特任教授 (60024345)
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| Co-Investigator(Kenkyū-buntansha) |
SANO Akihito 名古屋工業大学, 大学院・工学研究科, 教授 (80196295)
MOCHIYAMA Hiromi 筑波大学, 大学院・システム情報工学研究科, 准教授 (40303333)
TANAKA Yoshihiro 名古屋工業大学, 大学院・工学研究科, 助教 (90432286)
石橋 良太 首都大学東京, システムデザイン研究科, 助教 (20535835)
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| Co-Investigator(Renkei-kenkyūsha) |
ISHIBASHI Ryota 首都大学東京, 大学院・システムデザイン研究科, 助教 (20535835)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000)
Fiscal Year 2011: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2010: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2009: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
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| Keywords | 感性ロボティックス / 人工指 / 触覚 / 能動触 / パチニ小体 / 繊維構造 / 膠原繊維 / 皮膚構造 / ピアノ演奏 |
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| Research Abstract |
The aim of this study is the development of an artificial fingerincluding human tactile mechanism and the representation of human touch with it. Thestructure of subcutaneous tissue with fibers was focused and its mechanical effect fortactile perception was confirmed through the FEM analysis and the experiment. Then, anartificial finger was assembled on the basis of the structure including fibers and itwas confirmed that the specific tactile phenomenon, which is generated with only the humanfinger or hand, is generated with the artificial finger. In addition, impulse forcegenerators utilizing snap葉hrough buckling of elastic objects and a variable stiffnessmechanism utilizing elastic objects and metallic frames were investigated for actuatorsof the artificial finger.
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