2G2-1 マニュアルモードを有するTUAT/TUAT/Karlsruhe humanoid handの開発(医療福祉ロボットIV,一般講演)

概要

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The human hand as a very complex grasping tool can handle objects of different sizes and shapes. Many research works have been done to develop artificial robot hands with similar capabilities of the human hand. In this paper the mechanism and design of a new humanoid type hand (TUAT/Karlsruhe Humanoid Hand) with human-like manipulation abilities is discussed. The ideal end-effector for such a humanoid robot or an artificial arm would be able to use the tools and objects that a person uses when working in the same environment. Moreover, to execute more complex work, the technology of manual operation mode was newly developed. Therefore a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths and the shape of the palm. It can also perform most part of human grasping types.
一般社団法人日本機械学会の論文
2008-09-17