Synergy control of a five-fingered musculoskeletal robot hand based on coordination of agonist-antagonist muscle
| Project/Area Number |
23560524
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Shinshu University |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 筋骨格ロボット / ロボットハンド / バイオロボティクス / バイオミメティクス / センサレス化 / 生体ゆらぎ / 筋シナジー / 空気圧アクチュエータ / 把持姿勢 / 把持力 / 関節モデル / 転がり接触 |
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| Research Abstract |
Robots that can coexist with people in medical and aging care industries must be safe and flexible because they work directly with humans. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on human-like robotic joints fitted with pneumatic actuators to mimic the mechanism of the human musculoskeletal structure and bio-inspired control for a pneumatically driven five-fingered musculoskeletal robot hand, which has an antagonistic muscle pair for each joint. (1) We have investigated the validity of the proposed human-like joint model both theoretically and experimentally, (2) measured and statistically analyzed grasping posture and force distribution of the human hand, (3) developed a sensor-less joint angle / contact force estimation system, and finally (4) demonstrated a biologically inspired control algorithm by implementing the musculoskeletal robot hand.
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Report
(4 results)
Research Products
(31 results)
