指側面の近接・力覚で人の手の握り状態を推定する五指ハンドの開発と手繋ぎ動作の実現

抄録

Hand is a typical site of contact with the external world, so robotic hands with various functions have been studied. In this paper, we focused on hand-holding between human and robot. We proposes a five-fingered robotic hand that joins hands with people depending on the state of hand-holding. Using proximity and force sensors mounted on the sides of the fingers, the robot hand estimates how to be gripped by a person and holds their hand back in the same way as human. When the person relaxes their hand, the robot hand opens its fingers and terminates hand-holding. We conducted an experiment to apply this hand to robot guidance and confirmed that the state of the finger’s sides is important to distinguish between different hand-holding ways.