手指動作を支援する超多関節外骨格機構の研究

DOI Web Site
  • 髙嶋 倫太郎
    筑波大学グローバル教育院エンパワーメント情報学プログラム
  • 河本 浩明
    筑波大学システム情報系 サイバニクス研究センター CYBERDYNE 株式会社
  • 山海 嘉之
    筑波大学システム情報系 サイバニクス研究センター CYBERDYNE 株式会社

書誌事項

タイトル別名
  • Ultra-Multijointed Assistive Mechanism for Finger Motion
  • シュシ ドウサ オ シエン スル チョウタカンセツ ガイ コッカク キコウ ノ ケンキュウ

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説明

<p>In this study, we proposed and developed a novel ultra-multijointed assistive mechanism for gripping, which can assist flexion and extension from the back of the hand. In addition, we confirmed the applicability of our mechanism to gripping of daily objects with assistance of flexion and extension by our mechanism. In the mechanism, many links are combined at the hinged joints, and a wire is inserted into the mechanism to transmit a bending force. To generate bending torque for the finger, the wire is pulled by the tip of the ultra-multijointed structure. When the wire is not pulled, no bending torque is generated for the finger, and the ultra-multijointed structure becomes flexible in the bending direction of the finger’s flexion and extension. By extruding this ultra-multijointed structure according to the finger surface length, which changes with flexion and extension, it is possible to adapt it to flex and extend for a wide range of finger postures for gripping daily objects. To confirm the applicability of the gripping assistant, we conducted experiments using a hand mockup and in a healthy volunteer. We have demonstrated the applicability of the assistive mechanism for providing assistive force to support fingers in gripping daily objects by assisting the flexion and extension of the fingers.</p>

収録刊行物

  • 生体医工学

    生体医工学 58 (1), 28-38, 2020-03-10

    公益社団法人 日本生体医工学会

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