人間の多指を用いた作業能力の計測と解析

人体多指工作能力测量与分析

• 批准号: 09221226
• 负责人: 川村 貞夫
• 金额: $ 1.41万
• 依托单位: Ritsumeikan University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research on Priority Areas
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 无数据
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-09221226/
• 关键词: 指組織弾性; 指機械的インピーダンス

人間の作業の代替を機械で実現することが,ロボティクスのひとつの目的であった.それ故,人間の手指が暗黙の内にロボット指の理想像とされる場合が多い.しかし,種々の性質において必ずしも人間の手指が優れていると考えられない.そこで,本研究では人間が作り出せる手先技量の力学的性質を計測・解析した.このような計測結果から,現在のロボットハンドに不足する性質を明確にし,新しいロボット指の設計を行うことが,この研究の役割である.人間の手先技量を考えるとき,指先で発生可能な機械的インピーンスは重要な働きを行う.そこで,本研究では指先で作業する際に人間が実現できる機械的インピーダンスを明らかにする.指単独で作業する場合と対象物を多指で操作する場合を想定する.指の機械的インピーダンスを考える場合には,指先組織の機械的インピーダンスと指関節の機械的インピーダンスの両方を考える必要があるので,本研究ではこの両方を計測する.指先組織の弾性特性が詳細に調べられ,ゴム人工指の特性と比較された.この計測結果から,人間の手指と人工指の弾性特性をモデル化することができた.次に,指関節の機械的インピーダンスが計測され,慣性,粘性,弾性の特性が明らかとなった.指の姿勢や筋肉の緊張状態によって,各パラメータの値は変化することが計測された.弾性は予想していた値よりも大きくなることが判明した.また,多指の協調動作時のインピーダンスも計測され,ペグインホールなどの作業時にどの程度のインピーダンス値になっているかが示された.

In place of mechanical equipment, human operators do not have to pay attention to each other, and the purpose of the operation is to meet the requirements. Therefore, people's fingers are in the dark. It means that the ideal is the same as that of many people. It is necessary to pay attention to the number of people who use their fingers and fingers to take part in the examination. The purpose of this study is to analyze the performance analysis of the mechanics of manual mechanics in this study. According to the results of the program, there is a lack of clear information about the performance of the system. The new system refers to the design of the operating system and the study of the operating system. The first test of hand-to-hand skills between people refers to the purchase of important equipment that may be used in the first place. The purpose of this study is to provide information on the operation of human-to-human mechanical equipment. It refers to a single operation, a combination of objects, an operation, a combination of operations, and a combination of operations. It refers to the registration of mechanical equipment, which means that it is necessary to organize the organization of mechanical equipment. In this study, the organization of mechanical equipment is necessary. It refers to the first organization to organize the characteristics of the sex, and the manual means that the properties are better than the others. The results of the computer program show that people use human fingers to describe the characteristics of human sexuality. The term "secondary" refers to the mechanical properties of mechanical equipment, such as mechanical properties, mechanical properties and mechanical properties. It refers to the posture and shape of the muscle and the shape of the body, and each of them is in a position to change the situation. I don't want to tell you what I want to know. The term "coordination" refers to the coordination of the operation time, the operation time and the operation time.