1A1-E13 マイクロハンドによるミクロ世界との遭遇ロボット「みゅーたん」に関する研究の展開

概要

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This paper presents μ TAN as a flexible micro manipulation system, which consists of a micro hand with a guide robot and a virtual reality (here after VR) human interface system. We can control the micro hand and guide robot by data glove as VR systems. The micro hand is composed of five pneumatic PDMS micro fingers and connected to the guide robot. The micro hand is designed in the image of hand of human begins for visceral control. The micro hand is driven operator's hand. The micro hand is positioned by the guide robot using parallel link mechanism. We did demonstration of soft manipulation of a rhinestone (φ 1 mm) and a eyelash (φ 100μm) at Expo Aichi. Now we are working on the performance improvement of the micro hand and robot, and the addition of the sensor performance.
一般社団法人日本機械学会の論文