ロボット指の内部モデル獲得に向けた後耳介筋による操作学習

抄録

This paper presents operational learning experiments to manipulate a robotic thumb by using posterior auricular muscle which is a body part that we do not use on a daily life. In the experiments, reaching motions are conducted using sensory feedback of the robotic thumb through a device that presents continuous position of the robotic thumb. The experimental results indicate that the operability of the robotic thumb improves by repeating the operation learning; also, the results indicate that there is a possibility of improving the operability of a robotic thumb by acquiring internal models through repetitive operational learning.