2013 Fiscal Year Final Research Report

Clarify the cooperation of fingers and its functions in grasping tasks

Research Project

Project/Area Number	23500250
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Perception information processing/Intelligent robotics
Research Institution	National Institute of Advanced Industrial Science and Technology
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)
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)
Project Period (FY)	2011 – 2013
Keywords	知能ロボット / ロボットハンド / 把持・操作 / 把持内力
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.

(3 results)