人間の手作業分析のための把握情報入力装置の開発(機械力学,計測,自動制御)

概要

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Analysis of human hand grasping can provide information for the use of developing a grasping algorithm of robot hands, which takes advantage of human knowledge and experience. In analysing human hand grasping, not only motion of the fingers, but the contact force acting on the fingertips is also required. This paper presents a new master hand, which can be attached to a human hand and measures motion of the human fingertips and contact force acting on the fingertips. The master hand consists of serial links, six-axis force/torque sensors that can be mounted on the fingertips, a base, a glove, and an inclination sensor. Our purpose of developing the master hand is to clarify the strategy of human grasping. We gather data by subjecting a human with the master hand to the same physical constraints as those of a robot hand. The obtained information can be used to help us to develop grasping algorithms for robot hands. In this paper, we will start with a discussion of the concept behind the development of a new master hand. Follow by a description of the mechanism and the underlying system of the master hand. Finally, we demonstrate the features of the new master hand.
2001-12-25