計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
「触る」機能と「触られ」再現性の両立を目指した人体模倣ハンドの開発
上野 安澄三浦 祐太水内 郁夫
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ジャーナル 認証あり

2019 年 55 巻 11 号 p. 739-744

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If robots can reproduce human-to-human physical contact which people feel happy, we expect an effective reduction of stress by robots. For reproducing physical contact, we aimed to achieve both the “active touch” function (shaking hands) and the “passive touch” reproducibility. We devised a mechanism and a production procedure to reproduce the “passive touch” such as fleshiness, pliability, and nail and made a prototype. We introduced an elastic material for maintaining force against external force to the wire-driven joint; we think this elasticity is necessary for “passive touch” reproducibility. By trying the actuation of the prototype and verifying the feeling with touch in the participant experiment, we confirmed the validity of the trial artificial hand.

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© 2019 公益社団法人 計測自動制御学会
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