1P1-B16 人間の手先における非対称剛性モデルの提案

• 安孫子 聡子

  東北大

• 近野 敦

  東北大

• 内山 勝

  東北大

書誌事項

タイトル別名

• 1P1-B16 Asymmetric Stiffness Model of a Human Hand

抄録

This paper presents asymmetric stiffness characteristic of a human hand. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of a robotic manipulator. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrates nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _1P1-B16_1-_1P1-B16_4, 2010

  一般社団法人 日本機械学会

キーワード

• human-hand stiffness
• viscoelasticity
• variable stiffness
• asymmetric stiffness
• perturbation-excited method

詳細情報

• CRID: 1390001205936327552
• NII論文ID: 110008741496
• DOI: 10.1299/jsmermd.2010._1p1-b16_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__1P1-B16_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可