指先の摩擦モデルに関する研究

摘要

Generally a coefficient of friction of a human finger is very higher than a coefficient of friction of metal. The physical characteristics of a human finger are important in the work by hand. Therefore, the physical and numerical modeling of fingertip is useful for the design of various equipments, for example, a handrail of stairs, a robot hand, an operation simulator, and so on. In this study, "Coulomb friction", "absorption by fingerprint and sweat" and "elasticity of finger" are considered as the element of the friction characteristics. The aim of this study is to express the force by these characteristics as function model and to make the physical fingertip model. At first, the force by friction and absorption are measured, and the contact area between fingertip and board is calculated. Next, the function of friction force with respect to vertical force acting on the contact surface between fingertip and board is suggested. Finally, the actual finger model is made and the friction force is modeled to the function.%人間の生活において，摩擦は切り離して考えることrnのできないものである．皮膚の摩擦により姿勢を保ち，rn手作業を行うことなどが可能となっている．そして，rn人間の皮膚の中でも手指は最も効率の良い摩擦を発揮rnする．手指の働きは，掴む，摘むの2種類に分けられrnるが，そのうち摘むという行為においては，指先の摩rn擦特性が影響するものであり，人間が行う高度な手作rn業を可能にしているといえる．