人間形2本指機構の動作空間特性 : 第1報, 関節駆動トルクと指の姿勢

抄録

This paper deals with a thumb and finger model of human type which has almost same motions and same sizes as those of human hand. The object which is handled by the fingers is modeled as a point or a line. Evaluations of workabilities which depend on the work space of the fingers are essentially indispensable to the elementary motion patterns which may possibly control a robot hand mechanism. The spatial points where both finger tips can encounter with each other are analyzed. A finger has an elementary linkage that is a directly chained three links finger mechanism. The postures of the finger element are searched on a relation of the direction of force that is loaded on the tip of the link. The spatial points of the two-fingers model which pinches a pen are evaluated by the torques which act on the finger hinges.