| Project/Area Number |
13450104
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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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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
OGASAWARA Tsukasa NARA INSTITUTE OF SCIENCE AND TECHNOLOGY, GRADUATE SCHOOL OF INFORMATION SCIENCE, PROFESSOR, 情報科学研究科, 教授 (30304158)
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| Co-Investigator(Kenkyū-buntansha) |
MATSUMOTO Yoshio NARA INSTITUTE OF SCIENCE AND TECHNOLOGY, GRADUATE SCHOOL OF INFORMATION SCIENCE, ASSOCIATE PROFESSOR, 情報科学研究科, 助教授 (00314534)
NAKAMURA Takayuki WAKAYAMA UNIVERSITY, FACULTY OF SYSTEMS ENGINEERING, ASSOCIATE PROFESSOR, システム工学部情報通信システム学科, 助教授 (50291969)
IMAI Masakazu TOTTORI UNIVERSITY OF ENVIRONMENTAL STUDIES, DEPARTMENT OF INFORMATION SYSTEMS, PROFESSOR, 情報システム学科, 教授 (60193653)
UEDA Jun NARA INSTITUTE OF SCIENCE AND TECHNOLOGY, GRADUATE SCHOOL OF INFORMATION SCIENCE, ASSISTANT PROFESSOR, 情報科学研究科, 助手 (30346308)
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| Project Period (FY) |
2001 – 2003
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| Project Status |
Completed (Fiscal Year 2003)
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| Budget Amount *help |
¥10,200,000 (Direct Cost: ¥10,200,000)
Fiscal Year 2003: ¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 2002: ¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 2001: ¥3,700,000 (Direct Cost: ¥3,700,000)
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| Keywords | Grasping movement / Elastic contact / Incipient slip / Stick ratio / Touch processing / Grip force control |
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| Research Abstract |
In this research, grasping movement, typical and fundamental action entailing the touch sensation in a daily life, is investigated, and essential touch information necessary to accomplish the "grasping" is modeled. Concretely, a fingertip contact model derived from the theory of elasticity is discussed, and psychophysical experiments are carried out with an original touch measurement device.
First, a fingertip contact is modeled using the theory of an elastic contact. In a contact interface of a tangentially baded elastic sphere, partial slip (incipient slip), suggested to have explicit relations with the grip force control, occurs from the peripheral. In this research, the stick ratio, defined as the ratio of the stick region to the contact region, is introduced. This is a scalar parameter indicating the generalized contact state of an elastic sphere. Then, the grip force control hypothesis based on the stick ratio is proposed. The grip force is reported to have similar safety margin regardless of the grasped object. SO, the stick ratio is *umed as a major tactile input in grasping. Since the stick ratio is a generalized slip margin, proper grip force can he realized just converges the stick ratio in a similar value.
Measurement of the stick ratio during grasping are carried out to show the validness of the hypothesis. In the experiments, subjects are asked to lift up the device with its weight and fiction randomly changed, repeatedly. So, the transition of the stick ratio and the grip/load force from inexperienced to well experienced situations can be observed. The results demonstrate that the stick ratio converges to a similar value after several trials regardless of the condition.
These results suggest that the stick ratio can be detected by receptors within a skin, and it converges to a similar value in human grasping. That is, these results strongly support the proposed hypothesis
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