A multiple-degrees-of-freedom musculoskeletal robotic finger with elliptical rolling contact joints

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420196
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Shinshu University
• Principal Investigator: NISHIKAWA Atsushi 信州大学, 学術研究院繊維学系, 教授 (20283731)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 筋骨格ロボット / ロボットハンド / 生体ゆらぎ / 筋拮抗比 / 筋シナジー / 空気圧アクチュエータ / ナイロン繊維アクチュエータ / 角度増幅型関節機構

Outline of Final Research Achievements

The aim of this study is to develop a multiple-degrees-of-freedom musculoskeletal robotic finger with elliptical rolling contact joints imitating the shape and　mechanism of the human metacarpophalangeal joints, to establish its control method, and then to understand human body motion mechanism. To accomplish this, we conducted the following four elemental studies: (1) human finger movement analysis using motion capture system/surface electromyography/functional electrical stimulation, (2) a muscle coordination control for an asymmetrically antagonistic-driven musculoskeletal robotic finger using attractor selection (biological fluctuation), (3) tubular knitted silk fiber fabric as ligaments for artificial finger joints, and (4) the design of a joint mechanism increasing the rotation angle for super-coiled polymer actuators.

Free Research Field

知能機械学・機械システム