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Clarify the cooperation of fingers and its functions in grasping tasks

Research Project

Project/Area Number 23500250
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionNational 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.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (6 results)

All 2014 2013

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (4 results)

  • [Journal Article] 内力の観察に基づく三本指把持のモデル化2014

    • Author(s)
      永田和之, 山野辺夏樹, 原田研介
    • Journal Title

      第19回ロボティクス, シンポジア論文集

      Pages: 227-232

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] 内力の観察に基づく三本指把持のモデル化2014

    • Author(s)
      永田和之,山野辺夏樹,原田研介
    • Journal Title

      第19回ロボティクス・シンポジア予稿集

      Volume: - Pages: 227-232

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Presentation] 内力の観察に基づく三本指把持のモデル化2014

    • Author(s)
      永田和之, 山野辺夏樹, 原田研介
    • Organizer
      第19回ロボティクス, シンポジア
    • Place of Presentation
      兵庫県, 有馬
    • Year and Date
      2014-03-13
    • Related Report
      2013 Final Research Report
  • [Presentation] 内力の観察に基づく三本指把持のモデル化2014

    • Author(s)
      永田和之,山野辺夏樹,原田研介
    • Organizer
      第19回ロボティクス・シンポジア
    • Place of Presentation
      有馬グランドホテル(兵庫県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 内力による把持分類2013

    • Author(s)
      永田和之, 山野辺夏樹, 原田研介
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      東京, 南大沢
    • Year and Date
      2013-09-06
    • Related Report
      2013 Final Research Report
  • [Presentation] 内力による把持分類2013

    • Author(s)
      永田和之, 山野辺夏樹, 原田研介
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京(東京都)
    • Related Report
      2013 Annual Research Report

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Published: 2011-08-05   Modified: 2019-07-29  

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