教育用ヒューマノイドによる教育補助の研究

―形状記憶合金を用いたハンドの制御システム開発―

抄録

In previous research, we developed an educational humanoid robot Nicot for using humanoids in education. Nicotte is 126cm tall and weighs 15kg, making it much lighter for a humanoid robot. When humanoid robots are used in educational settings where there are many opportunities to interact with humans, a lightweight design of the robot body is required in consideration of safety. As the weight is reduced, the output of the actuator decreases, and it becomes difficult to mount the hand on the hand in terms of the output torque of the arm. However, when a humanoid robot conducts a lesson, it is necessary to have a communication ability using hand signs in order to easily transmit linguistic information. It is therefore an object of the present invention to manufacture a lightweight and hand-signable hand unit that can be mounted on a lightweight humanoid robot and to complete a control system.