人間形指機構の作業空間特性に関する研究 : 小物体の微小転がし作業

概要

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The characteristics of the work space of a thumb-forefinger mechanism are discussed with the direction of turning stick and the zones of contacting finger surfaces. The finger hinge motions for turning a slim stick are determined under consideration of hinge angular speeds and hinge torque. This paper analyzs (1) the work spaces related to the contacting zone of finger surfaces (2) the work space evaluations on the speeds and the torques (3) the suitable direction of stick turning. Those analyses show that (i) the combination of thumb tip sphere and forefinger tip sphere has a work space which accommodates any direction of stick turning, (ii) other surface combinations suit a limited turning direction, (iii) the combination of thumb sphere and forefinger tip cylinder gives the most widely spread work space.
一般社団法人日本機械学会の論文
1991-05-25