Development of a hardwired synergy robot hand based on the human hand synergy

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K14941
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: The University of Electro-Communications
• Principal Investigator: Togo Shunta 電気通信大学, 大学院情報理工学研究科, 准教授 (30751523)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: ロボットハンド / ハンドシナジー / ソフトハンド / ソフトフィンガー / 人体模倣 / ワイヤ牽引 / 劣駆動 / 人間化ロボティクス

Outline of Final Research Achievements

The objective of this study was to develop a robotic hand that can realize various hand motions with a small number of actuators, based on a mechanical representation of the hand synergy, which is the basis of human hand motions. As a result of developing a wire traction and underactuated robot hand, it was found that stable grasping of an object and intelligent hand control are difficult with the underactuated form. In order to improve the grasping ability of the robot hand, we developed a soft finger that mimics the human body structure. Experimental results showed that the asymmetry shape of the distal phalanx and the interaction between the hard fingernail and the soft finger pulp improved the precision grasping ability. We also developed an unlimited rotary wire winding mechanism that can exert high traction force by pressing the wire against a narrow shaft with a drum.

Free Research Field

ロボット学

Academic Significance and Societal Importance of the Research Achievements

本研究で明らかとなった，ヒト指の構造が精密把持の能力を向上させることは，人体の筋骨格構造そのものが何かしらの機能的役割を持つことを示唆し，大きな学術的意義がある．特に，柔らかい指と物体との相互作用は，様々な物理現象が生じるため，シミュレーションよりも，着目する構造の一部のみを変更した2つのロボットを比較することで，その役割を実験的に明らかにすることができる．この人体模倣ロボットに基づいた，ヒトの身体の機能的役割を解明するアプローチは，さらに多くの身体部位に適用可能である．また，開発したワイヤ無限巻取り機構は，様々なアクチュエータに取り付けることができるため，非常に広範な応用が期待できる．