Robot hand and its control using the data from the near infrared brain spectroscopy

• Project/Area Number: 25350689
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: Osaka Institute of Technology
• Principal Investigator: Tsutsui Hiroshi 大阪工業大学, 工学部, 教授 (00351453)
• Co-Investigator(Kenkyū-buntansha): KOBAYASHI HIROYUKI 大阪工業大学, 工学部, 准教授 (80338219)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2014: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2013: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: 触覚センサ / ロボットハンド / 脳機能計測 / NIRS / BMI / 劣駆動制御 / ＮＩＲＳ / 指紋 / 脳血流計測 / 劣駆動 / 脳血流測定

Outline of Final Research Achievements

The purpose of this research was to control a robot hand having flexible tactile sensors by using signals from a Near Infrared Spectroscopy (NIRS).
(1) Griping control of a robot hand using a flexible tactile sensor： The tactile sensor was consisted of four pneumatic sensors and a flexible silicone cap with a finger print structure. The tactile sensor was evaluated the slipping characteristics and was able to detect the friction level between the tactile sensor and the object. The tactile sensor was applied to a robot hand and the same data was obtained.(2) Robot hand control using NIRS signal：Several kinds of tasks were prepared for activation of the frontal and temporal lobes of the brain. Results shows that it was very difficult to measure the temporal lobes but 2 or 3 tasks were able to use as the switching signals to control the robot hand.

Research Products

• [Presentation] やわらかなマルチチャンネル触覚センサの開発 (2016)
  • Author(s): 筒井博司，山根尚慎，林昌弘
  • Organizer: 第55回日本生体医工学会大会
  • Place of Presentation: 富山国際会議場，富山
  • Year and Date: 2016-04-26
• [Presentation] 近赤外分光法を用いた4方向入力のBCIに関する研究 (2016)
  • Author(s): 松永卓郎，小林裕之
  • Organizer: 電気学会産業応用部門次世代産業システム研究会
  • Place of Presentation: 龍谷大学大阪梅田キャンパス，大阪
  • Year and Date: 2016-03-05
• [Presentation] Slipping Characteristics of Multichannel Flexible Tactile Sensor applicable for a Robot Finger (2015)
  • Author(s): Hiroshi Tsutsui, Hiroyuki Kobayashi
  • Organizer: 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: Ｍｉｌａｎ， Ｉｔａｌｙ
  • Year and Date: 2015-08-25
  • Int'l Joint Research
• [Presentation] Developement of Multichannel Soft Tactile Sensors Having Fingerprint Structure (2014)
  • Author(s): H. Tsutsui, Y. Murashima, N. Honma, H. Kobayashi
  • Organizer: 36th Annual International Conference of the EEE Engineering in Medicine and Ｂｉｏｌｏｇｙ Ｓｏｃｉｅｔｙ
  • Place of Presentation: Chicago, Illinoi, USA
  • Year and Date: 2014-08-26 – 2014-08-30
• [Presentation] Robot hand with soft tactile sensors and underactuated control
  • Author(s): H. tsutsui, Y. Murashima, N. Honma, K. Akazawa
  • Organizer: The 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE EMBC2013)
  • Place of Presentation: Osaka International Center, Osaka, Japan
• [Presentation] 空気圧ソフト触覚センサを有するロボットハンドの機構及び制御に関する研究
  • Author(s): 本間直樹，村嶋良彦，筒井博司
  • Organizer: 生体医工学シンポジウム2013
  • Place of Presentation: 九州大学伊都キャンパス，福岡，日本