メカニカルグローブによるロボットハンドデザインの第三者評価

抄録

A robotic hand design suitable for dexterity should be examined through functional tests. To achieve this, we developed a mechanical glove, a rigid wearable glove which enables us to develop the corresponding isomorphic robotic hand and evaluate the hardware properties. After the development of the mechanical glove, the effectiveness of multiple degrees-of-freedom (DOF) was evaluated by human participants. Several fine motor skills were evaluated using the mechanical glove under two conditions: one-DOF condition and three-DOF condition. To our knowledge, this is the first extensive evaluation method of robotic hand design suitable for dexterity.