2019 Fiscal Year Final Research Report
Feel and Tell the Mind using a Robot Hand that can Measuring and Manipulating the Deformable Object
| Project/Area Number |
17K13088
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
Ding Ming 奈良先端科学技術大学院大学, 先端科学技術研究科, 客員准教授 (40585840)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Keywords | ロボットハンド / ヒューマンロボットインタラクション / 撫でる動作 / 温度制御 |
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| Outline of Final Research Achievements |
In this research, we developed a robot hand and generated the touching motion to mimic human’s stroking motion. We observed and measured the construction of human’s hand first and examined the requirements for realizing the comfortable stroking motion. The required stiffness, temperature, and such physical factors has been extracted for the development of the robot hand. Then, a robot hand which has these factors has been designed. It has same softness on the joints and skin as human’s hand. The contacting temperature can also be controlled same as human. Finally, we equipped the developed hand on the tip of a robot arm. The stroking motion could be generated based on the measured human motion. The physical and physiological effectiveness of has been verified in the 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 |
本研究は人の手の構造を観察と計測し，抽出した接触動作に必要な手の機能をロボットハンドの開発により実現する方法を試した．人間の機能を有するロボットハンドの開発に関する重要な研究である．
開発したロボットハンドをロボットアームに取り付け，撫でる動作を生成し，多方面から動作の快適さを確認した．今後引き続きロボットと人の接触動作に関する研究の基礎になり，タッチケアロボットの実現に貢献できた．
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