Constructive Approach Study of Hand Dexterity based on the Teaching Data Demonstrated by a Human

本研究旨在通过建构性方法研究对人类手部灵巧性的本质认识。选择“折纸”作为目标任务，设计并开发了具有一定多功能性的机器人手，可以折叠多种折纸作品。我们可以成功构建一个机器人系统，不仅可以折叠“蝌蚪”，还可以折叠比“蝌蚪”复杂得多的“青蛙”。推广了从直接/远程教学数据中转移人的隐式任务技能的方法，并证实了所研制的机器人具有足够高的教学易操作性和足够精确的教学动作回放性能。

This research aimed at essential understanding of human hand dexterity through constructive approach study. "Origami-folding" was chosen as a target task and a robotic hand, which has a certain level of versatility so that it can fold several origami works, was designed and developed. We could successfully construct a robot system that can fold origami works not only "Tadpole" but also "Frog" which is much more complicate than "Tadpole". The way of transferring implicit task skill of humans from direct/remote teaching data was generalized and it was confirmed that the developed robot with novel mechanisms has high enough easiness of teaching and a precise enough playback performance of the teaching motions.