機械式グローブによるロボットハンド設計の第三者評価
Third-party Evaluation of Robotic Hand Designs Using a Mechanical Glove
剛体ウェアラブルグローブを開発し、人間が装着して1自由度と3自由度の条件で巧緻動作を評価することで、ロボットハンド設計の有効性を検証した。
著者: Takayuki Kanai, Yoshiyuki Ohmura, Akihiko Nagakubo, Yasuo Kuniyoshi
分類: cs.RO
原文アブストラクト
A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand and evaluate its hardware properties. Subsequently, the effectiveness of multiple degrees-of-freedom (DOFs) was evaluated by human participants. Several fine motor skills were evaluated using the mechanical glove under two conditions: one- and three-DOF conditions. To the best of our knowledge, this is the first extensive evaluation method for robotic hand designs suitable for dexterity. (This paper was peer-reviewed and is the full translation from the Journal of the Robotics Society of Japan, Vol.39, No.6, pp.557-560, 2021.)
