把持物体を置くときの衝撃特性 : 把持力が衝撃特性へ及ぼす影響

概要

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This paper describes characteristics of impact force in human placing motion. The experimental result says that the human performs placing motion dexterously without violent impact force due to keeping the upper frictional forces of the fingertips, which is applied on the grasped object after the object contacts with the floor. Slow change rate of moving the object mass to the floor has the effect of reducing the peaks value and temporary convergent value of the impact force. Moreover, smaller grasping force at a moment of collision can restrain the violent impact. Next, taking the strain pattern of the fingertips into consideration, the simulation of human placing motion is performed. When the viscosity of the fingertips in the shearing direction is higher, the impact force of the simulation has high convergent value similar to the case where the grasping force is set to be larger.
一般社団法人日本機械学会の論文
2001-06-25