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Analysis of Nonprehensile Dexterous Sliding Manipulation with Human Hand

Research Project

Project/Area Number 24700202
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Perception information processing/Intelligent robotics
Research InstitutionTokyo Metropolitan Industrial Technology Research Institute

Principal Investigator

SASAKI Akinori  地方独立行政法人東京都立産業技術研究センター, ロボット事業推進部ロボット開発セクター, 副主任研究員 (30587126)

Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords手 / ディジタルヒューマンモデル / ディジタルハンドモデル / モデリング / シミュレーション / 画像計測 / ディジタルハンド
Outline of Final Research Achievements

Human hand is able to perform dexterous manipulation keeping the object stable while it is sliding on the hand. Discovering dynamical criteria to achieve such manipulation would contribute to improving designs of tool shapes or robotic hands.
It is hard to perform observations of contact points and forces between the actual hand and manipulated object. We hence implemented a method to perform dynamics simulation of a hand model along with measurement of hand motions by a subject, and feed the data to the simulation, based on which we performed observations and analysis. Soft body elements corresponding to hand skin is incorporated into the dynamics simulation because the skin would have important roles in such manipulation.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • 2012 Research-status Report
  • Research Products

    (5 results)

All 2014 Other

All Presentation (5 results)

  • [Presentation] 器用な操作を行う手モデルにおける接触の観測2014

    • Author(s)
      佐々木智典,橋本洋志
    • Organizer
      第15回 計測自動制御学会 システムインテグレーション部門講演会 (SI2014)
    • Place of Presentation
      東京国際展示場(東京都江東区)
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] Hand Model with Soft Skin for Evaluation of Human Hand Motion2014

    • Author(s)
      Akinori Sasaki, Hiroshi Hashimoto
    • Organizer
      40th Annual Conference of the IEEE Industrial Electronics Society (IECON 2014)
    • Place of Presentation
      Sheraton Hotel Dallas, Dallas, Texas, USA
    • Year and Date
      2014-10-29 – 2014-11-01
    • Related Report
      2014 Annual Research Report
  • [Presentation] Measurement of Hand Skin Deformation in Dexterous Manipulation

    • Author(s)
      Akinori Sasaki, Hiroshi Hashimoto
    • Organizer
      39th Annual Conference of the IEEE Industrial Electronics Society (IEEE IECON2013)
    • Place of Presentation
      Austria Center Vienna, Vienna, Austria
    • Related Report
      2013 Research-status Report
  • [Presentation] 手動作解析のための柔軟な構造を有する手モデルの構築

    • Author(s)
      佐々木 智典, 橋本 洋志
    • Organizer
      第14回計測自動制御学会 システムインテグレーション部門講演会 (SICE SI2013)
    • Place of Presentation
      神戸国際会議場(兵庫県神戸市)
    • Related Report
      2013 Research-status Report
  • [Presentation] 器用な操作を行う手動作と皮膚の変形の計測

    • Author(s)
      佐々木 智典,橋本 洋志
    • Organizer
      第13回 計測自動制御学会システムインテグレーション部門講演会(SI2012)
    • Place of Presentation
      福岡国際会議場(福岡県福岡市)
    • Related Report
      2012 Research-status Report

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Published: 2013-05-31   Modified: 2019-07-29  

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