人型ロボットハンド設計に向けた母指 CMC 関節の運動学同定

抄録

A method to identify the arrangement of the carpo metacarpal (CMC) joint of a human thumb is proposed with an aim at mechanical design of an anthropomorphic robot hand with as large workspace as human’s. The joint is modelled by two serial revolute joints. Not only the internal joint assignment but also the joint movement that accommodate to loci of measured optical markers are guessed step-by-step.