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.

本研究的目的是开发一种灵巧的机器人手指系统，该系统由具有柔软皮肤和坚硬指甲的新型指尖组成。还对其性能进行了研究。为此，开发了灵巧的操作方法，利用柔软皮肤的弹性和手指的仿人形状，以及来自安装在指尖连杆底部的六轴力/扭矩传感器的集成感觉信息、应变测量仪安装在人造指甲的底部，关节编码器安装在每个关节处。研究结果如下：1.采用铝内壳和硅橡胶软皮相结合的方式设计制造了新型指尖。可以看出，使用力/扭矩传感器的接触点位置测量的精度没有下降。纸张翻页任务已成功执行。2.人造指甲已开发出来，并附着在指尖上，可通过触觉检测表面上亚毫米级的小台阶。3.一种区分边缘和平面的新方法4.利用软指尖接触开发了一种新的边缘方向触觉感知方法。5.开发了一个模拟系统来评估由多指机器人的精细操作功能组成的操作运动手以及手臂和移动本体底座的全局操纵功能。