柔軟指による物体把持と操作における力学の実験的解明

• 井上 貴浩

  岡山県立大学スポーツシステム工学科

• 平井 慎一

  立命館大学ロボティクス学科

書誌事項

タイトル別名

• Experimental Investigation of Mechanics in Soft-fingered Grasping and Manipulation
• ジュウナンシ ニ ヨル ブッタイ ハジ ト ソウサ ニ オケル リキガク ノ ジッケンテキ カイメイ

抄録

This paper describes dynamics of object manipulation performed by a pair of soft fingertips. Soft fingertips en able secure grasping and stable manipulation yet the mechanics of soft-fingered manipulation has not revealed well. Based on the observations of soft-fingered grasping and manipulation, we found that grasping and posture control of a rigid object can be performed by a pair of 1-DOF fingers with soft tips, which contradicts to previous theories on soft-fingered manipulation. In this paper, we propose a parallel distributed model with tangential deformation of hemispherical soft fingertips to formulate the grasping and posture control by a pair of soft fingertips. The proposed model reflects the structure of a human finger consisting of a soft fingertip with a hard fingernail on its reverse side. We then formulate the dynamics of grasping and manipulation performed by a pair of soft fingertips. Experimental results validate the proposed model and formulated dyanamics.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 25 (6), 951-959, 2007

  一般社団法人 日本ロボット学会

キーワード

• Grasping
• Manipulation
• Soft Fingertips
• Hand
• Dynamics

詳細情報

• CRID: 1390001204726818304
• NII論文ID: 10019859638
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.25.951
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8939099
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8939099
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可