| 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)
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| 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.
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