静電接着を用いた可変剛性機能を有する義手指関節の開発

抄録

This study proposes a novel mechanism to change the stiffness of finger joint with electrostatic force. In daily life, people use a variety of tools and interact with other people and they need stiffness control to manipulate these tools properly. In this paper, a method to change the stiffness is maintaining the deformation of the finger joint using electrostatic adhesion. The electrostatic adhesion use the electrostatic force between electrodes and generate secondary frictional force. We use the frictional force for proposed method. A light-weighted electrode sheets is developed to add the stiffness control in the underactuated mechanism and evaluate the stiffness.