CPG Based Manipulation : Measurement of Human's Rhythmic Finger Gaits

Abstract

A number of researches for the dextrous manipulation have been studied in robotics and physiologic fields independently. Multi-fingered manipulation for dextrous robot hands should be based on the analysis of human skills. The purpose of this study is to apply the CPG-based control to the dextrous manipulation. In this paper, CPG-based manipulation is proposed for the rotating manipulation. Manipulation patterns of fingers are investigated when a subject rotates a cylindrical object. Typical contact patterns during the rotating manipulation are measured by FSRs. Based on the observation, the neural circuit model which generates a similar contact pattern is constructed. The experimental results by the computer simulation suggest that rotating manipulation can be performed using the constructed CPG model.