Interlligent Control of Multi-fingered Hard and Arm Robot for Health-Support Considering Safety.

考虑安全的多指硬臂机器人智能控制健康支持。

• 批准号: 14350120
• 负责人: TERASHIMA Kazuhiko
• 金额: $ 6.98万
• 依托单位: Toyohashi University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350120/
• 关键词: Multi-fingered hand; Hearth Care Robot; Massage Robot; Grasping; Intelligent control; Arm and hand robot; マッサージ; 操り・つかみ制御; ロボットハンド; 多指多関節ハンド; 掴み・操り制御; 位置・力制御; エキスパートマッサージロボット; ニューラルネットワーク; 逆システム; 福祉ロボット; Multi-fingered hand; Hearth Care Robot; Massage Robot; Grasping; Intelligent control; Arm and hand robot; マッサージ; 操り・つかみ制御; ロボットハンド; 多指多関節ハンド; 掴み・操り制御; 位置・力制御; エキスパートマッサージロボット; ニューラルネットワーク; 逆システム; 福祉ロボット

Four fingered-thirteen joint multi-fingered robot hand was built, where small sized motor in each joint of robot finger and force sensor in each finger-tip were installed. First, basic motion control system were established to realize grasping, manipulation and regrasping for handling obstacles. Secondly, application of multi-fingered robot hand on health care fields was considered. Expert massage robot systems were built. Massage. data of expert therapist were saved in computer, and those data were reproduced by robot hand, considering redundancy of robot finger. Pressure sheet sensor was applied to measure the finger force of therapist. Furhermore, force sensor were installed at the each fingertip of robot hand to: feedback expert massage motion exactly. Through a lot of experiments, it was demonstai ated that the present expert massage robot by teaching and playback approach, can realize the expert massage motion.

建造了四个手指的三十个连接多指的机器人手，其中安装了机器人手指的每个关节中的小型电动机，并安装了每个手指尖的力传感器。首先，建立了基本的运动控制系统，以实现掌握，操纵和重新处理障碍。其次，考虑了多指机器人手在医疗保健领域的应用。建立了专家按摩机器人系统。按摩。专家治疗师的数据保存在计算机中，考虑到机器人手指的冗余，这些数据是通过机器人手复制的。使用压力表传感器来测量治疗师的手指力。除了机器人手的每个指尖，将力传感器安装在：反馈专家按摩运动中。通过许多实验，目前的专家按摩机器人通过教学和播放方法可以实现专家按摩运动。