Development of the Master Hand for Grasping Information Capturing

摘要

Analysis of human hand grasping operation provides information for developing robot hand grasping algorithms based on human knowledge and experience. Hand grasping analysis involves finger movement and contact force acting on the fingertips. We present a master hand put on a human hand to measure fingertip movement and contact force acting on the human fingertips. The master hand consists of serial links, six-axis force/torque sensors installed on the fingertips, a base, a glove, and an inclination sensor. We developed the master hand to clarify human grasping strategy. We collect data by having a subject act under the physical constraints as those of the robot hand. Obtained information is used to develop grasping algorithms for robot hands. Starting with a discussion of the concept behind master hand development, we detail the mechanism of the master hand and demonstrate its features.