人間形2本指機構の動作空間特性 : 第2報, 指先の立体可動角とつまみ動作

抄録

This paper discusses the evaluations of work space of a thumb-finger model of human type. The evaluations are indispensable for design the motion patterns which may possibly control the finger mechanism. The direction of the end link of thumb is numerically analyzed from that of the finger. And the angular mobility of the direction of two fingers is cleared to have a great magnitude at the middle zone of the work space where both finger tips can encounter with each other. The shape of the finger tip is assumed as a half cut ball. And the Work space is evaluated by the size of particle which can be pinched by the two finger tip surfaces. The spatial position suitable for the pinch motion and the posture of the finger links are cleared to be almost given uniquely.