2013 Fiscal Year Final Research Report
Clarify the cooperation of fingers and its functions in grasping tasks
| Project/Area Number |
23500250
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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 |
Perception information processing/Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
NAGATA KAZUYUKI 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (10357634)
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| Co-Investigator(Kenkyū-buntansha) |
YAMANOBE Natsuki 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (90455436)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 知能ロボット / ロボットハンド / 把持・操作 / 把持内力 |
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| Research Abstract |
We developed a grasp measurement system which can measure the fingertip forces and motions of human hands. We measured grasp data in three types of 3-fingered grasps (i.e. prismatic precision, circular precision and pivot) using the system. We analyzed the grip forces in the 3-fingerd grasps and found that prismatic precision and circular precision have the same grasp strategy. We modeled the three types of 3-fingered grasps with two types of robot hands.
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