Consideration of Dynamic Stability of Hand and Object in Grasping

抓取时手与物体动态稳定性的考虑

• 批准号: 22500178
• 负责人: HASHIMOTO Hiroshi
• 金额: $ 2.83万
• 依托单位: Advanced Institute of Industrial Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2010
• 资助国家: 日本
• 起止时间: 2010 至 2012
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22500178/
• 关键词: ディジタルヒューマンモデル; ソフトハンド; デジタルハンドモデル; 器用な操作; 力場; 把持の数理モデル; 圧覚場の可視化; 動的平衡性

This paper aims at surface of the hand and force field between objects for the hand that changes posture while holding the object for the hand, consist of five fingers and palms, and it aims to propose the method of doing the approximation presumption in real time, and to find the dynamic stability relation between the force field and the object shape of a dynamic holding. A digital hand that enabled the object holding in the collision space was developed, and the method to observe the force field between objects was developed. The finding concerning dynamic stability when this was used, and the object was operated dynamically was obtained.

针对由五指和手掌组成的手在握持物体时改变姿态的手的表面和物体之间的力场，提出了在真实的时间内进行近似假设的方法，并找到了动态握持时力场与物体形状之间的动态稳定性关系。研制了一种能够在碰撞空间中握持物体的数字手，并提出了观察物体间力场的方法。当使用这种方法时，得到了关于动态稳定性的发现，并且对象动态地操作。

项目成果

A Study on Degree of Freedom in Hand Modeling

手部造型自由度研究

• 发表时间: 2011
• 期刊: SICE Annual InternationalConference
• 作者: Hiroshi Hashimoto ;Akinori Sasaki;Sho Yokota;Yasuhiro Ohyama and Chiharu Ishii
• 通讯作者: Yasuhiro Ohyama and Chiharu Ishii

解剖学的動作拘束条件を考慮した指姿勢の非接触計測法

考虑解剖运动约束的手指姿态非接触测量方法

• 发表时间: 2010
• 期刊: 設計工学
• 作者: 佐々木智典;橋本洋志;横田祥;大山恭弘
• 通讯作者: 大山恭弘

Compensation of Unknown Input Dead Zone using Equivalent-Input-Disturbance Approach

• DOI: 10.5220/0004033706050609
• 发表时间: 2012
• 期刊: International Journal of Aerospace Engineering
• 影响因子: 1.4
• 作者: Liyu Ouyang;Jinhua She;Min Wu;H. Hashimoto

Study on Motion Design for Service Robot based on Standard Human Motion Proc. of Int. Conf. on IEEE Industrial Electronics

基于标准人体运动过程的服务机器人运动设计研究。

• 发表时间: 2012
• 期刊: Control and Instrumentation (IECON2012)
• 作者: Sho Yokota;Hiroshi Hashimoto;Daisuke Chugo and Kuniaki Kawabata
• 通讯作者: Daisuke Chugo and Kuniaki Kawabata

Tacit Knowledge Extraction of Skillful Operation from Expert Engineers

专家工程师熟练操作的隐性知识提取

• 发表时间: 2011
• 期刊: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011)
• 作者: Ikuyo YOSHIDA;Yoshinori TERAMOTO;Hideki TABATA;Chao HAN;and Hiroshi HASHIMOTO
• 通讯作者: and Hiroshi HASHIMOTO