2A1-F02 異なる自由度と拘束条件を持つハンド間での把持力を考慮した把持動作の写像

概要

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The most intuitive way to create a grasp pattern for multifinger robot hand is by demonstration. However, in reality, it is not straight forward since structure and constraints between human hand and robot hand are very different. For same reason, mapping of grasp patterns between different types of robot hand is also difficult. Furthermore, grasp pattern created only from demonstration is rarely useful because such grasp pattern does not consider grasp force, which is internal static force that cannot be measured from motion capturing. In this paper, we propose method to map grasp patterns between different types of hands; mainly focusing on mapping from human hand to anthropomorphic robot hand. We also propose way to consider grasping force of human using electromyography.