動的多指可操作性の提案とマスタ・スレーブハンド設計指標への拡張

抄録

In this paper, we extend the concept of dynamic manipulability measure to that for multi-fingered hands and propose a dynamic multi-fingered manipulability (DMM) measure. Unlike the conventional dynamic manipulability measure, the proposed measure considers internal forces and the dynamics of a grasped object. Specifying constant internal force components, we obtained a one-to-one relation from a joint torque to an object acceleration. The proposed measure is further extended to a measure for master-slave hands as a design index. Based on the new design indices, some two-fingered master-slave hand designs with different joint configurations are evaluated and an optimal link length is determined.