著者

佐々木 大輔 則次 俊郎 高岩 昌弘 中西 克文 丸田 紘史

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.2, pp.208-214, 2010 (Released:2012-01-25)

参考文献数

13

被引用文献数

3

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In this study, a bilateral type pneumatic wearable master-slave device has been developed in order to feed back a force information to the trainer. Developed device is constructed with a master and a slave device using pneumatic rubber muscles. By feeding back the reaction torque to a torque control system of the master device, a master device user can feel the reaction torque from the slave. In this paper, the structure of the developed device, the fundamental characteristics of device are discussed, and then the validity of the developed device is evaluated from the fundamental experiments.

著者

西川 弘太郎 平田 健太郎 高岩 昌弘

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.49, no.2, pp.56-63, 2018 (Released:2018-07-12)

参考文献数

16

被引用文献数

2

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In recent years, 3D printer technology has brought many projects on the myoelectric hand to provide lightweight and inexpensive ones. However, the use of many mechanical and electronic components still limits the reduction of the total weight and cost. It also causes inevitable battery life problem. Therefore the authors propose a novel self-powered pneumatic prosthetic hand with which no electricity is required. The hand can grasp physical objects flexibly and quickly enough and is superior in portability because no external facilities like tank and compressor are needed in contrast to the traditional pneumatic devices. Driven by the supination motion of the arm, it does not have the restriction of the posture when the user wants to grasp. In addition, the hand is equipped with a tactile feedback system to realize a soft grasping.