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

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.

搭建了四指十三关节多指机器人手，在机器人手指的每个关节上安装了小型电机，在每个指尖安装了力传感器。首先，建立基本的运动控制系统，实现抓取、操纵和再抓取处理障碍物。其次，考虑了多指机械手在医疗保健领域的应用。建造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，这些数据由机器人手再现。采用压力片传感器来测量治疗师的手指力。此外，机器人手的每个指尖都安装了力传感器，以：准确反馈专家的按摩动作。通过大量实验证明，现有的专家按摩机器人通过示教和回放的方式，可以实现专家按摩动作。

项目成果

K.Terashima, et al.: "Sense Feedback Control of Anthropomorphic robot for Medical and Welfare Support"Proceedings of the First symposium on Intelligent Human Sensing -The 21st Century COE Program "Intelligent Human Sensing"(文科省). 199-206 (2003)

K. Terashima等：“用于医疗和福利支持的拟人机器人的感觉反馈控制”第一届人类智能感知研讨会论文集-21世纪COE计划“智能人类感知”（文部科学省，科学与技术）199-206（2003）。

M.Panya, K.Terashima, et al.: "Expert Message Motion Control by Multi-fingered-Robot Hand"International Conference on Intelligent Robots and Systems (IROS 2003). Las Vegas (USA). 3035-3040 (2003)

M.Panya、K.Terashima 等人：“多指机器人手的专家消息运动控制”智能机器人和系统国际会议 (IROS 2003)。

K.Terashima, et al.: "Sense Feedback Control of Authropomophic Robot for Medical and Welfere Support"Proc. of the first Symposium on Intelligent Human Sensing (IHSS2003) "21st Century COE program" Toyohashi(Japan). 199-206 (2003)

K.Terashima 等：“用于医疗和福利支持的自体机器人的感觉反馈控制”Proc。

M.Panya, K.Terashima, et al.: "Position and Force Control of Multi-fingered Robot Hand and Its Application to Massage Motion"International Conference -Robotics and Applications' 03 (IASTED) -Satzburg (Austria). 100-105 (2003)

M.Panya、K.Terashima 等人：“多指机器人手的位置和力控制及其在按摩运动中的应用”国际会议 - 机器人与应用 03 (IASTED) - 萨茨堡（奥地利）。

H.Kitagawa, K.Terashima, et al.: "Application of Neural Network for the Teaching of Massage to a Multi-fingered Robot Hand"Journal of Robotics and Mechatronics. Vol.14, No.2. 534-541 (2002)

H.Kitakawa、K.Terashima 等人：“神经网络在多指机器人手按摩教学中的应用”机器人与机电一体化杂志。