多段1自由度ハンドを装着したミニチュアヒューマノイドの腕部動作試験

抄録

In our previous work, to achieve rich communication with remote people through a small wearable robot, a miniature humanoid MH–2 have been developed. The MH–2 has a head with 3–DOF and 7–DOF arms. It employs wire-pulley mechanisms to be compact. However, MH–2 cannot move fingers that can express various gestures. To tackle the problem, we have developed MH–3 which has 1–DOF multistep hands. The 1–DOF multistep hands achieve bending fingers step by step. In this paper, we describe the arm motion test with “finger pointing gesture” to confirm feasibility of the MH–3 with 1–DOF multistep hands.