2022 Fiscal Year Final Research Report
Development of a robotic fingertip for adjusting friction
| Project/Area Number |
17K06282
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu Sangyo University |
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Principal Investigator |
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| Project Period (FY) |
2017-04-01 – 2023-03-31
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| Keywords | ロボティクス / ロボットハンド / マニピュレーション / 摩擦 |
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| Outline of Final Research Achievements |
I have developed a novel robotic fingertip for adjusting the friction coefficient between the fingertip and an object, in order to improve manipulation skills of a robotic hand. I proposed a method to adjust the friction coefficient by vibration of a robotic fingertip with a piezo-electric actuator. The object manipulation including a slipping process by a robotic hand with two developed fingertips was successfully demonstrated in an experiment.
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| Free Research Field |
ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
本研究では，ロボットハンドの作業能力向上を目指し，指先力や指先姿勢を変更することなく接触物体との摩擦係数を動的に変更可能なロボット指先の開発を行った．摩擦係数を変更可能な独立のパラメータとして新たに手指操作の制御則に組み込めれば，従来は困難であったロボットハンドによるすべりを伴う器用な操作の実現が期待できる．本研究成果は，人間のような高い作業能力を持つロボットハンドの実現へ向けて有益なものである．
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