| Project/Area Number |
23500250
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Perception information processing/Intelligent robotics
|
|---|
| Research Institution | National Institute of Advanced Industrial Science and Technology |
|---|
Principal Investigator |
NAGATA KAZUYUKI 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (10357634)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
YAMANOBE Natsuki 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (90455436)
|
|---|
| Project Period (FY) |
2011 – 2013
|
| Project Status |
Completed (Fiscal Year 2013)
|
| Budget Amount *help |
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2011: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
|
|---|
| Keywords | 知能ロボット / ロボットハンド / 把持・操作 / 把持内力 / Precision grasp / Circular precision / Prismatic precision / 把持 / 操作 / 指先力 / 指先運動 / 操作データ可視化 / 物体操作 / 指先力計測 / 三次元運動動作計測 |
|---|
| Research Abstract |
We developed a grasp measurement system which can measure the fingertip forces and motions of human hands. We measured grasp data in three types of 3-fingered grasps (i.e. prismatic precision, circular precision and pivot) using the system. We analyzed the grip forces in the 3-fingerd grasps and found that prismatic precision and circular precision have the same grasp strategy. We modeled the three types of 3-fingered grasps with two types of robot hands.
|
