人間の指先軌道特性と把持動作シミュレーション(機械力学,計測,自動制御)

This paper describes path planning of grippers emulating human's grasping motions with respect to the thumb and index finger. When the hand approaches to the target object, the velocity patterns of the tips are bell-shaped regardless of the initial hand position. Path planning of two tips is similar to the obstacle avoidance against the target object and avoidance motion trends to be conducted by the index finger. Utilizing the obtained human characteristics, the path planning model is constructed in the complex potential field. As a result of simulation, it can be confirmed that the two tips separately go round the target object so as to approach the grasped part due to the artificial potential, and they move slowly in gripping process just like a human since each tip motion is based on the bellshaped velocity pattern.