Study on Multi-jointed Robotic Finger Equipped with Soft Skin and Hard Nail

软皮硬钉多关节机器人手指研究

基本信息

批准号：
14350133
负责人：
HASEGAWA Tsutomu
金额：
$ 3.97万
依托单位：
KYUSHU UNIVERSITY
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 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350133/
关键词：
Robotic Hand Multi-Jointed Finger Soft Skin Nail Tactile Sensing

项目摘要

The purpose of this study is to develop a dexterous robotic finger system composed of a novel fingertip with soft skin and hard nail. Its performance was also investigated. For this purpose, dexterous manipulation method has been developed utilizing elasticity of the soft skin and the human mimetic shape of the finger together with the integrated sensory information from a six-axis force/torque sensor mounted at the base of the fingertip link, a strain gauge attached at the base of the artificial nail, and joint encoders mounted at each joint. Results of the study are as followings.1.Novel fingertip was designed and manufactured by combining a inner shell made of aluminum and soft skin made of silicon rubber. It was cleared that accuracy of the position measurement of contact point using the force/torque sensor is not deteriorated. Page turning task of paper sheet has been successfully executed.2.Artificial nail has been developed and attached to the fingertip enabling tactile detection of small step of sub-millimeter on the surface.3.A new method of discriminating edge and planar surface has been developed using the soft fingertip contact.4.A new method of tactile sensing of edge direction has been developed using the soft fingertip.5.A simulation system has been developed to evaluate manipulation motion composed of the fine manipulation function by the multi-fingered robotic hand and the global manipulation function by the arm and mobile body base.

这项研究的目的是开发一种灵活的机器人手指系统，该手指系统由具有柔软皮肤和硬钉的新指尖组成。还研究了其性能。为此，使用柔软的皮肤的弹性和手指的人类模拟形状以及来自六轴力的力量/扭矩传感器安装在指尖链路上的六轴力/扭矩传感器的集成感官信息，已经开发出灵巧的操纵方法，并具有集成的感觉信息，该链接的底部是一个附着在人造钉子的底座上的应变计，并在每个关节安装了接头。该研究的结果如下。1。Novel指尖是通过组合由铝制和硅橡胶制成的柔软皮肤制成的内壳来设计和制造的。可以清除使用力/扭矩传感器对接触点的位置测量的准确性不会恶化。 22.22。已开发并附着在尖端上开发并附着在表面上触觉的小步骤，从而实现触觉检测触觉，从而开发了一种新的区分边缘和平面表面的新方法，并使用软触手可及的触点开发了柔软的触点。通过多指机器人手和手臂和移动身体底座的全球操纵功能来操纵功能。