2023 Fiscal Year Final Research Report
Bilateral Control Using Functional Electrical Stimulation for Teaching Object Manipulation Skills to Robot with Five Fingers
| Project/Area Number |
21H01347
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | University of Tsukuba |
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Principal Investigator |
Sakaino Sho 筑波大学, システム情報系, 准教授 (70610898)
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| Co-Investigator(Kenkyū-buntansha) |
原 正之 埼玉大学, 理工学研究科, 准教授 (00596497)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 機能的電気刺激 / 制御 / 模倣学習 |
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| Outline of Final Research Achievements |
This research project aimed at independent control of the five fingers using functional electrical stimulation. We also aimed to instruct object manipulation skills that also include force control. First, we realized independent drive of an index finger by using multiple electrodes, and demonstrated that the middle and ring fingers can be driven independently using the extensor digitorum muscle. Since it has been easy to drive thumbs and little fingers independently, these results allow all five fingers to be driven independently. Then, we implemented the stimulation method on two participants and demonstrated that bilateral control of the five fingers was possible.
After that, we developed a robot hand with crossed-hand structures with nails which can grasp variety of size of objects. By instructing force control skills using bilateral control, the robot acquired human-like object manipulation skills, and was able to manipulate a wide variety of objects with a success rate of 95%.
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| Free Research Field |
制御およびシステム工学関連
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| Academic Significance and Societal Importance of the Research Achievements |
少子高齢化社会を迎える日本において肉体労働の大幅なロボット化は急務である。そのためには人間が未知環境を操作する際に必須である力制御技能をロボットに獲得させることが必須である。これまで反力提示が可能な遠隔操作「バイラテラル制御」を用いることで人間の力制御技能データを抽出しロボットに再現できることはあきらかになっていた。しかし、五指への力覚提示デバイスが製作困難であったため、五指の物体操作技能を教示できなかった。一方、本研究課題は人間の身体を覚提示デバイスとすることで、人間の五指を用いた物体操作技能を教示可能にした。ロボットが多種多様な物体の把持・操作が可能になったことを実験により実証した。
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