ヒトの把持力分布を模倣した5指なじみ檆構を有する義手の開発

摘要

地雷，交通事故および感染症などにより，多くのrn人々が手に障害を負った生活を余儀なくされている．rnこのような人々の社会復帰をうながすためには，障害rn者が手で作業を行えるような義手を普及させる必要がrnある．このため，義手の世界的な需要は大きい．現rn在，市販されているハンド型筋電義手は，ヒトと類似rnした外観を有し，軽量かつ低価格である．%Simple grippers with one or two degrees of freedom are commercially available prosthetic hands ; these pinch type devices cannot grasp small cylinders and spheres because of their low degree of freedom. This paper presents the design and prototyping of underactuated five-finger prosthetic hand for grasping various objects in daily life. Underactuated mechanism enables the prosthetic hand to move fifteen compliant joints only by one ultrasonic motor. The innovative design of this prosthetic hand is the underactuated mechanism optimized to distribute grasping force like those of humans grasping various objects robustly. Because of human like force distribution, the prototype of prosthetic hand could grasp various objects in daily life and heavy object with the maximum ejection force of 50 N grater than other underactuated prosthetic hands.