| 研究実績の概要 |
Two prototype of human finger sensor were developed with different mechanism to improve the initial prototype. On the first prototype, a lever mechanism was designed which consists of an orthoplanar spring, a permanent magnet attaches to the spring, and a lever transferring the finger deformation to spring. The mechanism was designed such that the distance between magnet and Hall-effect sensor to be optimal which improve the sensor performance. This finger sensor evaluation result was published in Robio2019.The second prototype features four levers cover around the finger-pad paired with four 3-axis Hall effect sensors respectively. In this design, the lever mechanism used silicone instead of spring in order to reduce the size. With four Hall-effect sensors, the finger sensor performance was improved further. This finger sensor evaluation result was published in Humanoid2019.
Beside the human finger sensor, the first prototype of exoskeleton (Exo-Glove) was developed. The RCM (Remote Center of Motion) mechanism were designed to support the whole finger sensor system on the fingertip and finger phalanges without covering or hindering user’s finger while the user grab or pinch an object. A magnetic encoder was embedded on each joint to measure joint angle between finger segment. This prototype was only designed and tested for one finger (index finger), the evaluation was submitted to RA-L IROS2020 (Under review).
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| 今後の研究の推進方策 |
In future work, the next Exo-Glove should cover all fingers of the human hand and then evaluate it by reproduce the joint trajectories and forces measured by Exo-Glove on robot hands with tactile sensors. A teleoperation system will be implemented between Exo-Glove and robot hand (we plan to use Allegro Hand), then we evaluate based on simple task like grasping object. The evalaution result will be publish on the future conference.
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