2019 Fiscal Year Final Research Report
A Study on Grasping Posture Control of Soft robotic hand by using MR fluid and Electromagnet
| Project/Area Number |
19K21073
|
|---|
| Project/Area Number (Other) |
18H05898 (2018)
|
|---|
| Research Category |
Grant-in-Aid for Research Activity Start-up
|
| Allocation Type | Multi-year Fund (2019)
Single-year Grants (2018) |
|---|
| Review Section |
0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
|
|---|
| Research Institution | The University of Tokyo (2019)
Ritsumeikan University (2018) |
|---|
Principal Investigator |
OR Keung 東京大学, 大学院情報理工学系研究科, 特任研究員 (70821122)
|
|---|
| Project Period (FY) |
2018-08-24 – 2020-03-31
|
| Keywords | ソフトロボティクス / ロボットハンド |
|---|
| Outline of Final Research Achievements |
In this research, we aim at improving the performance of soft robotic hand by introducing functional fluid into pneumatic soft robotic hand.
The contribution of this research includes: (1)Development of soft electrode which has similar mechanical properties to silicone rubber; (2) Development of Electrorheological Fluid which does not attack silicone rubber; (3)Structure design to combine ER fluid, conductive elastomer and pneumatic soft robotic hand.
Finally, we investigated the performance of our proposed system.
|
| Free Research Field |
ロボット工学
|
| Academic Significance and Societal Importance of the Research Achievements |
ソフトロボットハンドは指全体が柔らかい素材で構成されるため，物体の把持やマニピュレーションをする際に対象物が潰れにくい．一方で従来のソフトロボットハンドは自由度不足のため，指の姿勢が変わると把持力が下がる問題が存在している．
そのため，本研究で提案した構造でソフトロボットハンドの指の屈曲特性と把持力の制御を分離させる．ソフトロボットハンドの自由度を高めることで，ソフトロボットハンドのハンドリング性能の向上に貢献することを目指している．
|
