2026-03-07T21:26:57Z https://gunma-u.repo.nii.ac.jp/oai

oai:gunma-u.repo.nii.ac.jp:00003451 2023-06-19T13:00:55Z 572:575:576

Simulations of Path Planning Emulating Human's Grasping Motions 人間の指先軌道特性と把持動作シミュレーション Simulations of Path Planning Emulating Human's Grasping Motions 中沢, 信明 8483 梶川, 伸哉 8484 猪岡, 光 8485 池浦, 良淳 8486 Measurement Human Engineering Modeling Path Planning Grasping Motion Human Fingertip application/pdf Journal Article 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. journal article 日本機械学会 2002-05-25 2017-03-27 VoR application/pdf 日本機械学會論文集. C編 669 68 1474 1481 0387-5024 AN00187463 https://gunma-u.repo.nii.ac.jp/record/3451/files/C68_1474.pdf http://hdl.handle.net/10087/2830 https://gunma-u.repo.nii.ac.jp/records/3451 jpn http://ci.nii.ac.jp/naid/110002378501/ 日本機械学会 本文データは学協会の許諾に基づきCiNiiから複製したものである