| Project/Area Number |
23760246
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
|
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| Research Institution | Ryukoku University (2012-2013)
Kwansei Gakuin University (2011) |
|---|
Principal Investigator |
NAGASE Junya 龍谷大学, 理工学部, 助教 (70582245)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
|
| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | 剛性可変 / ロボットハンド / 予測機能制御 / ソフトメカニズム / バルーン / 力制御 / 角度制御 / 表面剛性 / 腱駆動 |
|---|
| Research Abstract |
Robots that are designed for use in the fields of medical care and welfare must be safe for the human environment because they often come into contact with humans. Furthermore, robots must have dexterity that is similar to that of humans. Under these circumstances, we have developed a robot hand using tendon-driven system, which is lightweight, flexibility and has the same degree of freedom as biological human hands. Moreover, we have devised a robot hand with pneumatic stiffness change finger that can be changed surface stiffness by changing input pressure. And, the stiffness-changeable finger is able to control the grasping force easily by predictive functional control.
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