物体接触時における多関節腱駆動機構による指先剛性制御(機械力学,計測,自動制御)

概要

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This paper proposes a polyarticular tendon drive system to simulate variable stiffness of human finger. The stiffness of a human finger contributes to ensure stability of a grasping object and dexterous of human finger and then an exoskeleton assistive hand should have the same property of human finger stiffness for safe and agreeable support. The stiffness of the finger in orthogonal direction to a grasping force increases as the grasping force increases, when human pinches an object with his index finger and thumb. Besides, the stiffness is not sensitive to direction of a fingertip displacement when an external force affects to the fingertip. Through numerical simulations and experiments, it is confirmed that our proposed polyarticular tendon drive system has the similar stiffness properties to the stiffness of human finger.
2010-11-25