Meta-understanding of Human Hand Dexterity Through Measuring Human Work and Mechanical Realization of Manipulation Function

点击翻译按钮获取中文摘要

This research aimed at fundamental understanding of human hand dexterity with task-oriented approach and "Origami-folding" was chosen as a target task. By observing and analyzing human work folding a specific origami form "Tadpole", it was found that four fingers each of which has three degrees-of-freedom were enough for folding the "Tadpole". An origami-folding robot was prototyped and the robot could actually fold the "Tadpole" successively.To dexterously manipulate flexible objects whose behavior may fluctuate like origami paper, a novel method to synthesize a desired trajectory and sensory feedback control laws for the robot based on the statistical feature of direct teaching data demonstrated by a human was proposed. Experimental results showed that the success rate and folding quality were improved by the proposed method. Finally, the proposed method was generalized based on the canonical correlation between sensory data and the robot motion data obtained by direct teaching.