| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2009: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
|
|---|
| Research Abstract |
In this study, we have developed a novel robot hand system with adjustable multi-directional joint stiffness. In our joint mechanism, we inserted Silicone Rubber Cushions between two motor driven disks. This cushion can adjust joint stiffness quickly by controlling its inside pressure. We investigated its basic performance through several experiments.
Furthermore, we analyzed human finger motion during throwing a ball. This analysis shows that how human controls each finger according to the goal position.
|
