把持モードを推定し駆動するパワーアシストグラブ(機械力学,計測,自動制御)

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タイトル別名
  • Power-Assist Glove Operated by Predicting the Grasping Mode(Mechanical Systems)
  • 把持モードを推定し駆動するパワーアシストグラブ
  • ハジ モード オ スイテイ シ クドウ スル パワーアシストグラブ

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抄録

The operation system that detects the grasping intention of people has been developed. In order to operate the Power-Assist Glove with appropriate drive mode corresponding to human grasping intention, we focused on three principal grasping modes and showed that each mode could be predicted by analyzing the initial movement patterns of the finger joint angles. Applying the pattern classification method to the control algorithm, the operation system predicts the grasp mode from slight movement of the fingers. As a result, the operation system achieved an 80% success rate in distinguishing the grasping modes of people. The Power-Assist Glove features a simple drive mechanism using soft actuators, that endows it with great affinity for human movement.

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