教育用大型ヒューマノイドに搭載するロボットハンド指部の小型化の研究

―ロボットハンド指部の角度制御―

抄録

Educational function are required for hurmanoid. The reason that robot has potential contribute becomesa teaching material of education from engineering and psychology point of view. In this case, non-verbal communications (such as gestures and facial expressions) are also important to understand each other naturally. In this study, we have developed a robot hand as the expression device of humanoid robot. We adopt the humanoid robot as a research platform, that humanoid robot is 126cm height and 15kg in weight called "Nicotto". Nicotto was developed jointly by our university and private company. The produced robot hand has 5 fingers to make it look like the external appearance of humans as close as possible. Shape memory alloy is adopted for the actuator to decrease the weight. As a result, It was made possible to express emotions using hand movements, and compared to how it was in the past, an improved communication capability can be expected.