| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Outline of Final Research Achievements |
In this research, we aim at realizing a multi-fingered robotic hand that can realize various grasping and manipulation like a human and have developed a two-fingered robotic hand that can grasp objects with various shapes not from an easy mimicking of human hand appearance but based on the essential understanding of the musculoskeletal configuration of human hand. From the observation of the picking motion by a human, we found that "scooping" is required for thin objects as well as "enveloping grasp" for heavy objects and "pinching" for small objects. The developed hand is composed of a two-degree-of-freedom (DOF) index finger having a combined five- and four-link mechanism and a one-DOF thumb with an under-actuated five-link mechanism, that enable these three gripping modes.
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