Transactions of the JSME (in Japanese)
Online ISSN : 2187-9761
ISSN-L : 2187-9761
Dynamics & Control, Robotics & Mechatronics
Module development and fundamental study toward high-speed and high-accuracy positioning of human hand
Yuji YAMAKAWAWataru TOOYAMAShouren HUANGKenichi MURAKAMIMasatoshi ISHIKAWA
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2018 Volume 84 Issue 858 Pages 17-00364

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Abstract

Human motion is very flexible for performing various tasks but has low speed and low precision; therefore, support and assistance of human motion by robots is desirable in some situations. In this study, in order to achieve such functions, we developed a new portable module for accurately controlling the position of a human hand and constructed a high-speed, high-accuracy positioning control system using image tracking via a high-speed vision system. In order to evaluate its performance, we executed tracing tests of constant position, circular or linear trajectory. Finally, we performed the task of catching a falling small ball, as a significantly difficult positioning task. Although this task was nearly impossible to perform with the human hand alone, the success rate was dramatically improved by using the proposed method.

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© 2018 The Japan Society of Mechanical Engineers
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