Development of joint mechanism with stiffness adjuster and achievement of skillful robotic motion using it
Project/Area Number |
21560268
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Intelligent mechanics/Mechanical systems
|
Research Institution | Tohoku Gakuin University |
Principal Investigator |
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
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)
|
Keywords | 人間機械システム / 剛性可変関節 / ロボットハンド / 物体投射 / 関節剛性 / 手指関節 / 投げ上げ / 関節剛性可変機構 / 投げ上げ動作 |
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.
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Report
(4 results)
Research Products
(23 results)