Ikeda Hidetoshi, Mizukami Yuta, Sakamoto Masahiro, Saeki Takumi, Lee Hokyoo, Hori Masakazu
Faculty and Department of Engineering (Mechanical and System Engineering Field, Advanced Manufacturing Robotics and System Control Course), Niigata Institute of Technology, Kashiwazaki City 945-1103, Japan.
National Institute of Technology, Toyama College, Toyama 939-8045, Japan.
Sensors (Basel). 2024 Sep 24;24(19):6162. doi: 10.3390/s24196162.
This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and joints required to handle various objects. The robotic hand has right and left planar fingers that can transform their shape to handle various objects. To turn a page, the robot uses the planar fingers to push the surface of the page and then rotates the fingers. The design concept, mechanism, sensor system, strategy for page turning, and control system of the robotic hand are presented. The experimental results show that the robot can turn pages using the proposed method; however, it sometimes failed to turn the page when the robotic hand height was too low and too close to the book because the rotation of the fingers was stopped by the book. When the hand detects excessive force during page turning, the control system changes the shape of the fingers and releases the force from the book. The experimental results show the effectiveness of the control system.
本文提出了一种使用具有低自由度机械手的辅助机器人的翻页策略。该机械手基于人类处理物体的特性，显著减少了处理各种物体所需的手指和关节数量。该机械手具有左右平面手指，可变换形状以处理各种物体。为了翻页，机器人使用平面手指推动书页表面，然后旋转手指。介绍了机械手的设计概念、机构、传感器系统、翻页策略和控制系统。实验结果表明，该机器人可以使用所提出的方法翻页；然而，当机械手高度过低且离书太近时，有时会无法翻页，因为手指的旋转被书挡住了。当机械手在翻页过程中检测到过大的力时，控制系统会改变手指的形状并释放来自书本的力。实验结果证明了该控制系统的有效性。
