| Project/Area Number |
22500178
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Advanced Institute of Industrial Technology |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
SASAKI Tomonori 東京都立産業技術研究センター (30587126)
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| Research Collaborator |
YOSHIDA Ikuyo 吉田育代本舗
HIRAO Yasuyuki ソニー株式会社
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2010: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | ディジタルヒューマンモデル / ソフトハンド / デジタルハンドモデル / 器用な操作 / 力場 / 把持の数理モデル / 圧覚場の可視化 / 動的平衡性 |
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| Research Abstract |
This paper aims at surface of the hand and force field between objects for the hand that changes posture while holding the object for the hand, consist of five fingers and palms, and it aims to propose the method of doing the approximation presumption in real time, and to find the dynamic stability relation between the force field and the object shape of a dynamic holding. A digital hand that enabled the object holding in the collision space was developed, and the method to observe the force field between objects was developed. The finding concerning dynamic stability when this was used, and the object was operated dynamically was obtained.
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