A multiple-degrees-of-freedom musculoskeletal robotic finger with elliptical rolling contact joints
| Project/Area Number |
26420196
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | Shinshu University |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2014-04-01 – 2017-03-31
|
| Project Status |
Completed (Fiscal Year 2016)
|
| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
|
|---|
| Keywords | 筋骨格ロボット / ロボットハンド / 生体ゆらぎ / 筋拮抗比 / 筋シナジー / 空気圧アクチュエータ / ナイロン繊維アクチュエータ / 角度増幅型関節機構 / バイオロボティクス / バイオミメティクス / 中手指節関節 |
|---|
| Outline of Final Research Achievements |
The aim of this study is to develop a multiple-degrees-of-freedom musculoskeletal robotic finger with elliptical rolling contact joints imitating the shape and mechanism of the human metacarpophalangeal joints, to establish its control method, and then to understand human body motion mechanism. To accomplish this, we conducted the following four elemental studies: (1) human finger movement analysis using motion capture system/surface electromyography/functional electrical stimulation, (2) a muscle coordination control for an asymmetrically antagonistic-driven musculoskeletal robotic finger using attractor selection (biological fluctuation), (3) tubular knitted silk fiber fabric as ligaments for artificial finger joints, and (4) the design of a joint mechanism increasing the rotation angle for super-coiled polymer actuators.
|
Report
(4 results)
Research Products
(8 results)
