指屈曲モード選択可能な指機構の開発

抄録

In recent years, various types of electric prosthetic hand have been developed as research subjects, but electric prosthetic hand that completely replace human hands have not been developed. This is considered to be because human hands can make various movements in daily life. And there is a pinch in the movement required for the electric prosthetic hand in the daily life movement (ADL). However, the motorized artificial hand （F-hand） we developed has a mechanism that opens and closes all five fingers simultaneously with one actuator, so there is a problem that it can’t be a simple knob from the desktop. From this, while maintaining the characteristics of the F-hand, we developed a mechanism that can be gripped, and conducted grip experiments using grip experiments and Cutkosky’s grasp classification. As a result, by adding a new finger mechanism, it became possible to position with high precision, and it became possible to grasp the grasping shape which could not be achieved by the previous researches other than the pinch.