Understanding of the Hand Spinning Skill and Yarn Making using Robot Manipulator

Abstract

This paper describes the understanding of the hand spinning skill and the spinning method which is attempted using a robot manipulator based on observation. A hand part for sensing and measurement was developed. The intervals of the most suitable values of necessary parameters are determined by the preliminary experiments. Experimental results confirmed relation between the stabilization of yarn tension and noticeable movements of human hand during hand spinning. We performed robotic hand spinning by successfully and offered an assumption of the hand spinning skill using experimental results.