1A1-L04 指装着型マスタースレイブデバイスの機構(人間機械協調)

概要

論文の詳細を見る
This paper proposes the structure of finger-mounted Master-Slave device. Our purpose is develop a device for imitation learning. Traditionally device assist to grasp only so that there are no need multiple of motion. But, imitation learning needs more motions than traditionally one. Metacarpophalangeal (MP) joint and Proximal interpharyngeal (PIP) joint are moved by our device. This device supply for external power for human finger. By doing this human finger play takeoff of model motion. That movement of joints independence from each other. They have motion of extinction and flexion. Distal interpharyngeal (DIP) joint depends on PIP joint motion. Our device have difference structures par joint. This structure imitate from human finger structure and our device realize variety of motions which are demanded by imitation learning.
一般社団法人日本機械学会の論文
2007-05-11