Third-party Evaluation of the Robotic Hand Design Using a Mechanical Glove

• Kanai Takayuki

  Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo Current Affiliation: R-Frontier Div., Frontier Research Center, Toyota Motor Co.

• Ohmura Yoshiyuki

  Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo

• Nagakubo Akihiko

  Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology

• Kuniyoshi Yasuo

  Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo

Bibliographic Information

Other Title

• メカニカルグローブによるロボットハンドデザインの第三者評価

Abstract

A robotic hand design suitable for dexterity should be examined through functional tests. To achieve this, we developed a mechanical glove, a rigid wearable glove which enables us to develop the corresponding isomorphic robotic hand and evaluate the hardware properties. After the development of the mechanical glove, the effectiveness of multiple degrees-of-freedom (DOF) was evaluated by human participants. Several fine motor skills were evaluated using the mechanical glove under two conditions: one-DOF condition and three-DOF condition. To our knowledge, this is the first extensive evaluation method of robotic hand design suitable for dexterity.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 39 (6), 557-560, 2021

  The Robotics Society of Japan

Keywords

• Robotic Hand
• Wearable Device
• Embodiment
• Dexterity

Details

• CRID: 1390570387146875520
• NII Article ID: 130008069771
• DOI: 10.7210/jrsj.39.557
• ISSN: 18847145
• ISSN: 02891824
• Web Site: https://www.jstage.jst.go.jp/article/jrsj/39/6/39_39_557/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed