2018 Fiscal Year Final Research Report
Development of soft structural robot hand and its application to human-body care services with the instruction of ambigous expressiogn of degree
| Project/Area Number |
16K01562
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Tohoku Gakuin University |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Keywords | 可変関節剛性 / ロボットハンド / マッサージ / 程度表現 / 感覚量 |
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| Outline of Final Research Achievements |
In this research, we worked on development of a safe and friendly physical care service robot system.
First, in order to provide a safe and comfortable massage service, we fabricated a robot hand with adjustable joint stiffness.
Next, in order to apply this hand to a massage services that can be easily handled using everyday expressions such as "press a little more" and "press more", we analized adjustment levels for each expression through several experiments. From this analysis, we could construct a model that calculates the control target of the robot hand for various degree expressions. By combining the two results, a human-friendly massage system can be realized.
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| Free Research Field |
人間工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で開発したロボットハンドは、硬さを変えることが可能であり、安全性と快適性を必要とする介護等のサービスに対して有効に利用できると考える。また、そのハンドを制御するために、ヒューマンフレンドリーな日常用語の使用を目的としており、”少し強く押して”などの指示に対する適切な接触作業の解析を詳細に行った。この解析結果から、単なる力の制御ではなく圧力分布を考慮した”押し作業”の必要性を見出すことができた。
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