ABML2011O3-4

2011年11月3日-5日 東京（芝浦工業大学）

ᢕᣢࡢከᵝᛶ࡜㧗࠸ᢕᣢຊࢆᐇ⌧ࡍࡿ
ᣦࢆ㊬ࡄ࣡࢖ࣖᖸ΅㥑ື⣔ࢆ⏝࠸ࡓ஬ᣦᆺ➽㟁⩏ᡭࡢ㛤ⓎDevelopment of Five-finger Myoelectric Hand using Parallel Inference Driven Mechanism
which Realizes High Grip Force and Multiplicity of Grip Motion‫ ۑ‬㜝㐩ஓ  ຍ⸨㱟  ᶓ஭ᾈྐ㸦㟁Ẽ㏻ಙ኱Ꮫ㸧
Tatsuya SEKI, Ryu KATO and Hiroshi YOKOI, University of Electro-Communications
Abstract: Requirements of robot hands for five-finger myoelectric hands for use in daily life are as follows: 1) light weightand human size; 2) ability of grasping objects with various postures and high grip force. The compatibility of these requirements is a trade-off problem; we have not yet any ideal robot hands for five-finger myoelectric hands which satisfy
both requirements enough. On the other hand, we have proposed the parallel inference driven mechanism that improves agrip force getting neither larger nor heavier by using redundant DoF during pinching motion, and confirmed avail ability
with a two-finger test model. In this paper, we apply the mechanism to an actual five-finger myoelectric hand, and confirmed that it can make 7 kinds of hand motions which are necessary for activities of daily living (ADL). Moreover, a 40
percent improvement of grip force is achieved by three-finger and it enables pinch over 1kg objects.
Key Words: Multi-DoF Myoelectric Hand, Interference Driven Mechanism, Tendon-driven Robot Hand,
1. ㅖゝୖ⫥Ḟᦆ࡟ࡼࡿ㐠ືᶵ⬟ࡢᦆኻࢆ⿵࠺ࡓࡵࡢ⩏ᡭࡀ⌧ᅾ✀ࠎ㛤Ⓨࡉࢀ࡚࠸ࡿ㸬≉࡟➽㟁⩏ᡭࡣ㸪᩿➃㒊ࡢ➽άື࡟ࡼࡿ➽㟁఩ࢆไᚚಙྕ࡜ࡍࡿࡇ࡜࡛㝶ពไᚚ࡛ࡁࡿ㟁ື⩏ᡭ࡛࠶ࡾ㸪ᚑ᮶ࡢ⬟ື⩏ᡭ࡟ẚ࡭࡚ከ✀ࡢ㐠ືᶵ⬟ࢆ෌ᘓ࡛ࡁࡿࡶࡢ࡜ࡋ࡚㛤Ⓨࡀ㐍ࡵࡽࢀ࡚࠸ࡿ㸬ࡇࡇ࡛㸪᪥ᖖ⏕ά࡛ᨭ㞀࡞ࡃ౑⏝࡛ࡁࡿ➽㟁⩏ᡭࢆᐇ⌧ࡍࡿ࡟ࡣḟࡢせồࢆ‶ࡓࡍᚲせࡀ࠶ࡿ㸬ࡲࡎ㸪Ḟᦆ㒊࡜ྠ⛬ᗘࡢ኱ࡁࡉ࠾ࡼࡧ㔜㔞࡛࠶ࡾ㸪ḟ࡟᪥ᖖ⏕άືసࡀྍ⬟࡞ከ⮬⏤ᗘ࠾ࡼࡧᢕᣢຊࢆᣢࡘࡇ࡜࡛࠶ࡿ㸬ࡋ࠿ࡋ㸪ࡇࢀࡽࡢせồࡣ୍⯡࡟ࢺ࣮ࣞࢻ࢜ࣇࡢ㛵ಀ࡟࠶ࡾ㸪኱ࡁࡉ࡜㔜㔞ࢆไ㝈ࡋࡓሙྜ㸪⮬⏤ᗘ࡜ᢕᣢຊࡢ୧❧ࡣᴟࡵ࡚㞴ࡋࡃ㸪኱ࡁࡉ࠾ࡼࡧ㔜㔞ࢆ࡜ࡶ࡟‶ࡓࡍ✀ࠎࡢࣟ࣎ࢵࢺࣁࣥࢻ(1-6)ࡢ࠺ࡕ㸪⮬⏤ᗘ࡜ᢕᣢຊࢆ࡜ࡶ࡟‶ࡓࡍࡶࡢࡣ࠸ࡲࡔᏑᅾࡋ࡞࠸(Fig.1)㸬
ᡃࠎࡣ⮬⏤ᗘ࡜ᢕᣢຊࡢ୧❧ࢆࡵࡊࡋ㸪࣡࢖ࣖ⭝㥑ືࢆ⏝࠸ࡓ 5 ᣦᆺከ⮬⏤ᗘࣟ࣎ࢵࢺࣁࣥࢻ(6)ࡢ㛤Ⓨࢆ⾜ࡗ࡚ࡁࡓ㸬ࡇࢀࡣ 5 ᣦࡀࡑࢀࡒࢀ⊂❧ࡋࡓ⮬⏤ᗘࢆᣢࡕ㸪࠿ࡘᖸ΅㥑ືᶵᵓ࡟ࡼࡾ኱ᆺ໬ࡍࡿࡇ࡜࡞ࡃ㸪ຊࡀせồࡉࢀࡿ㛵⠇ࡢ㥑ືຊࢆ㧗ࡵ࡚࠸ࡿ㸬ࡋ࠿ࡋ࡞ࡀࡽ㸪ᢕᣢຊࡣ 55N ࡀ㝈⏺࡛࠶ࡾ㸪ᨵⰋࡀᚲせ࡛࠶ࡿ㸬ࡲࡓ㸪ᣦࡈ࡜࡟⊂❧ࡋࡓ㥑ືᶵᵓ࡞ࡢ࡛㸪⢭ᐦᢕᥱࡢࡼ࠺࡞୍㒊ࡢᣦࡀᢕᥱືస࡟ᐤ୚ࡋ࡞࠸ᢕᥱጼໃ࡛ࡣ⮬⏤ᗘࡀ෕㛗࡛࠶ࡿ㸬ࡇࢀࡣࡑࡢᣦࢆ㥑ືࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡢ㥑ືຊࡣᢕᣢຊ࡟ᐤ୚ࡋ࡚࠾ࡽࡎ㸪ࡉࡽ࡞ࡿᢕᣢຊྥୖࡀᚲせ࡞ࡢ࡟ࡶ࠿࠿ࢃࡽࡎ㠀ຠ⋡࡛࠶ࡗࡓ㸬ࡇࢀࢆゎỴࡍࡿࡶࡢ࡜ࡋ࡚㸪ࡉࡽ࡟ᡃࠎࡣ

Grip Force [N]100

SensorHand

Target Area

Keio Hand

Prosthetic Hand
developed by Yokoi and colleagues

7550

25

i-Limb

DLR/TIT II

0051015

Degrees of Freedom
Fig.1 Degrees of freedom and grip force.

O3-4-1ࣃࣛࣞࣝᘧᖸ΅㥑ືࢆᥦ᱌ࡋࡓ(7)㸬ࡇࢀࡣ⮬⏤ᗘࡢ୍㒊ࢆไ㝈ࡍࡿࡇ࡜࡛㸪ᢕᥱືస࡟ᐤ୚ࡋ࡞࠸ᣦࢆ㥑ືࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡢ≌ᘬຊࢆ㸪ືస࡟ᐤ୚ࡍࡿᣦ࡟㓄ศࡋ㸪኱ᆺ໬ࡸ㔜㔞໬ࡍࡿࡇ࡜࡞ࡃᢕᣢຊྥୖࢆᅗࡿࡶࡢ࡛࠶ࡿ㸬᪤࡟ 2 ᣦᆺࣟ࣎ࢵࢺࣁࣥࢻ࡟࠾࠸࡚ᢕᣢຊࡢྥୖࢆ☜ㄆࡋ࡚࠸ࡿࡀ㸪㐺⏝ࡋ➽㟁⩏ᡭ࡟ᛂ⏝ࡋࡓሙྜࡢせồࡉࢀࡿ⮬⏤ᗘࡢ☜ಖࡸᢕᣢຊ࡟㛵ࡋ࡚ࡣᮍ᳨ド࡛࠶ࡗࡓ㸬௨ୖࡢ⫼ᬒ࠿ࡽ㸪ᮏ◊✲࡛ࡣࡲࡎ㸪ࣃࣛࣞࣝᘧᖸ΅㥑ືᵓ㐀ࢆ 5 ᣦᆺከ⮬⏤ᗘࣟ࣎ࢵࢺࣁࣥࢻ࡟ᐇ⿦ࡍࡿ㸬ࡉࡽ࡟ᥦ᱌ᶵᵓࡢ᭷ຠᛶࢆ᳨ドࡍࡿࡓࡵ㸪᪥ᖖ⏕άືస(ADL)࡟
ᚲせ࡞ືసጼໃ࡬ࡢ㑄⛣࡜㸪኱ࡁ࡞ᢕᣢຊࡀせồࡉࢀࡿᥱຊᢕᥱ࣭⢭ᐦᢕᥱࡢ 2 ືసࡢホ౯ࢆ⾜࠺㸬
2. 㧗ᢕᣢຊ࡜ከ⮬⏤ᗘࡢ୧❧ࢆ┠ᣦࡋࡓ➽㟁⩏ᡭࡢ㛤ⓎADL ࢆ⾜࠺࡟ࡣ㸪≀యࢆᥱࡿ Power grip㸪≀యࢆ᦬ࡲࡴ
Precision grip㸪㘽࡞࡝ࢆᣢࡘ Lateral pinch㸪㠜ࡢྲྀᡭ࡞࡝ࢆ
ᣢࡘ Hook grip㸪࣌ࣥ࡞࡝ࢆᣢࡘ Tripod grip㸪ᣦࡉࡋືసࡢ
Finger-point㸪ࢥ࣑ࣗࢽࢣ࣮ࢩࣙࣥࢶ࣮ࣝࡢ Gesturing ࡢືసࡀᚲせ࡜࡞ࡿ(8)㸬ࡇࢀࡽࡢືసࡀ⾜࠼ࡿ⩏ᡭࢆᐇ⌧ࡍࡿ࡟ࡣ㸪ྛࠎࡢᣦ࡟⊂❧ࡋࡓ㐠ື⮬⏤ᗘ࡜≀యࢆᢕᣢྍ⬟࡞ᢕᣢຊࢆ୧❧ࡋࡓከ⮬⏤ᗘࣟ࣎ࢵࢺࣁࣥࢻࡀᚲせ࡜࡞ࡿ㸬
2-1 ᖸ΅㥑ືࢆ⏝࠸ࡓ➽㟁⩏ᡭࡢ㛤Ⓨᡃࠎࡀᥦ᱌ࡋ࡚ࡁࡓ࣡࢖ࣖ⭝㥑ື࡟ࡼࡿᖸ΅㥑ືࢆ⏝࠸ࡓࣟ࣎ࢵࢺࣁࣥࢻ(6)ࡣ㸪ᣦࡢ㛵⠇ࢆ」ᩘࡢ࢔ࢡࢳ࢚࣮ࣗࢱ
ࡢྜຊ࡟ࡼࡾ㥑ືࡉࡏࡿࡇ࡜࡛㸪ຊࢆせồࡉࢀࡿ MP 㛵⠇ࡢ㥑ືຊࢆྥୖࡉࡏ࡚࠸ࡿ(Fig.2)㸬ࡲࡓ㸪࣡࢖࡛ࣖືຊࢆఏ㐩ࡍࡿࡢ࡛㸪㥑ື㒊࡜ືຊ㒊ࢆศ㞳ࡋ࡚ࣟ࣎ࢵࢺࣁࣥࢻࡢᡭඛ㔜㔞ࢆ㍍㔞໬ࡋ࡚࠾ࡾ㸪⿦╔⪅࡬ࡢ㈇ᢸࢆ㍍ῶࡋ࡚
࠸ࡿ㸬௨ୖࡢࡼ࠺࡞ᶵᵓ࡟ࡼࡾ㸪13 ࡢ㐠ື⮬⏤ᗘࢆᣢࡕ࡞ࡀࡽࡶ㸪➽㟁⩏ᡭࢩࢫࢸ࣒඲య࡛ேࡢ๓⭎㒊࡜࡯ࡰྠ⛬ᗘࡢ㔜㔞ࢆᐇ⌧ࡋ࡚࠸ࡿ㸬⌧ᅾᐇ⌧ࡉࢀ࡚࠸ࡿ᭱኱ᢕᣢຊࡣ
⣙ 55 N ࡛࠶ࡿ㸬ࡇࢀࡣ㸪500ml ࣌ࢵࢺ࣎ࢺࣝ㣧ᩱ⛬ᗘࡣၥ㢟࡞ࡃᢕᣢྍ⬟࡞⛬ᗘ࡟ࡣ኱ࡁ࠸㸬ࡋ࠿ࡋ㸪ᡂேࡢᖹᆒⓗ࡞ᥱຊ࡜ẚ࡭ࡿ࡜పࡃ㸪౛࠼ࡤ኱ࡁ࡞㠜ࡢࡼ࠺࡞≀యࡢᢕᣢࡣ࡛ࡁ࡞࠸㸬᪥ᖖ⏕ά࡛ᨭ㞀࡞ࡃ฼⏝࡛ࡁࡿ➽㟁⩏ᡭࢆᐇ⌧ࡍࡿ࡟ࡣ㸪ࣟ࣎ࢵࢺࣁࣥࢻࡢᢕᣢຊྥୖࡀᚲ㡲࡛࠶ࡿ㸬MP Joint
PIP Joint

Actuator A

DIP Joint

Actuator B

Grip Force
Effectual Force(a) Robot hand without proposed idea

Invalid ForceAMP Tendon Wire
MP/PIP/DIP Tendon Wire

Fig.2 Finger mechanism using interference drive link.
(Only flexion tendon wires)
2-2 ෕㛗࡞⮬⏤ᗘࢆ⏕࠿ࡍࣃࣛࣞࣝᘧᖸ΅㥑ືࡢᥦ᱌ ࣟ࣎ࢵࢺࣁࣥࢻࡢᢕᣢຊྥୖࡣ㸪୍⯡ⓗ࡟ࡣ࢔ࢡࢳ࢚࣮ࣗࢱࡢ㧗ฟຊ໬ࡀᚲせ࡜࡞ࡿ㸬ࡋ࠿ࡋ㸪࢔ࢡࢳ࢚࣮ࣗࢱࡢ㧗ฟຊ໬ࡣ኱ᖜ࡞኱ᆺ໬࠾ࡼࡧ㔜㔞໬ࢆᣍࡃࡓࡵ㸪⩏ᡭ࡟㐺⏝ࡍࡿࡇ࡜ࡣ࡛ࡁ࡞࠸㸬୍᪉㸪ከ⮬⏤ᗘࢆᣢࡘࣟ࣎ࢵࢺࣁࣥࢻࡣ㛵⠇࠶ࡿ࠸ࡣᣦࡈ࡜࡟⊂❧ࡋࡓ࢔ࢡࢳ࢚࣮ࣗࢱࢆᣢࡘ㸬ࡋࡓࡀࡗ࡚ Precision grip ࡸ Tripod grip ࡞࡝ࡢ୍㒊ࡢᣦࡢࡳࢆ౑࠺ືస࡛ࡣ㸪ືస࡟ᐤ୚ࡋ࡞࠸ᣦࢆ㥑ືࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡢ≌ᘬຊࡀᦆኻ࡜࡞ࡿ㸬ࡇࡢ෕㛗࡞࢔ࢡࢳ࢚࣮ࣗࢱࡢ㥑ືຊࢆືస࡟౑࠺ᣦ࡟㓄ศࡋ࡚㸪ືస࡟ᐤ୚ࡍࡿຊࢆቑຍࡉࡏࡿࡇ࡜࡛࢔ࢡࢳ࢚࣮ࣗࢱࡢ㧗ฟຊ໬ࢆ⾜ࢃࡎ࡜ࡶ㸪ᢕᣢຊࡀྥୖࡍࡿ࡜⪃࠼ࡽࢀࡿ(Fig.3)㸬
ࡇࡢ⪃࠼࡟ᇶ࡙ࡁ㸪ᡃࠎࡣ᪤࡟࣡࢖ࣖ⭝㥑ືࢆ⏝࠸ࡓࣟ࣎ࢵࢺࣁࣥࢻࡢࡓࡵࡢࣃࣛࣞࣝᘧᖸ΅㥑ືࢆᥦ᱌ࡋ࡚࠸ࡿ
(Fig.4)(7)㸬ᚑ᮶ᶵᵓ࡛ࡣ≌ᘬຊࢆఏ㐩ࡍࡿ Tendon Wire ࡣ⊂❧ࡋ࡚࢔ࢡࢳ࢚࣮ࣗࢱ࡟᥋⥆ࡉࢀ࡚࠸ࡓ㸬୍᪉࡛㸪ࣃࣛࣞࣝᘧᖸ΅㥑ື࡛ࡣ࢔ࢡࢳ࢚࣮ࣗࢱ࡜㛵⠇ࡢ㛫࡟㸪㞄ࡾྜ࠺ᣦࡢ Tendon Wire ࢆ㐃⤖ࡍࡿ Parallel Link Wire ࢆ᪂ࡓ࡟タࡅ㸪≌ᘬຊࡢ㓄ศࢆ⾜࠺ᶵᵓ࡛࠶ࡿ㸬ྛࠎࡢᣦࡢ⊂❧ᛶࡣ୍㒊ไ㝈ࡉࢀࡿࡀ㸪ୖ⫥Ḟᦆࢆ௦᭰ࡍࡿ⩏ᡭ࡟࠾࠸࡚ࡣ
ၥ㢟ࡀ࡞࠸㸬ࣄࢺࡢᡭ࡛ࡣ⥲ᣦఙ➽࠿ࡽᘏࡧࡿᣦ⫼⭝⭷࡟࠾࠸࡚⭝ࡀ㞄ࡢᣦࡢ⭝࡜⤖᮰ࡋ࡚࠾ࡾ㸪ᣦࡈ࡜࡟᏶඲࡟⊂❧ࡋࡓ㐠ື⮬⏤ᗘࢆᣢࡗ࡚࠸࡞࠸㸬ࡋࡓࡀࡗ࡚㸪ᣦࡸ㛵⠇ࡢ㐃ື࡜㠀㐃ື࡜ࢆືస࡟ᛂࡌ࡚㐺ษ࡟ษࡾ᭰࠼ࡿࡇ࡜ࡀ
࡛ࡁࢀࡤᶵ⬟ࡀ኱ࡁࡃᦆ࡞ࢃࢀࡿࡇ࡜ࡣ࡞࠸㸬ࡲࡓ㸪ࡇࡢᶵᵓࡣ㞄ࡾྜ࠺ᣦ࡜ࡢ㐃⤖࡟ࢠࣖ࡞࡝ࡢᶵᲔⓗ⥾⤖࡛ࡣ࡞ࡃ㸪࣡࢖ࣖࢆ⏝࠸࡚࠸ࡿ㸬࣡࢖࡛ࣖ 2 Ⅼ㛫ࢆ㐃⤖ࡍࡿ࡜㸪࣡࢖ࣖ࡟ᙇຊࡀ࠿࠿ࡿ࡜ࡁ࡟ࡢࡳ 2 Ⅼ㛫࡛≌ᘬຊࡀఏ㐩ࡉࢀࡿ㸬ࡋࡓࡀࡗ࡚㸪㞄ࡾྜ࠺ᣦྠኈࢆ㐃⤖ࡋ࡚࠸ࡿ Parallel
Link Wire ࡢ୧➃ࡢ⤖᮰Ⅼࡢ㊥㞳ࡀ㸪ᐇ㝿ࡢ Parallel LinkWire ࡢ㛗ࡉࡼࡾࡶ▷࠸࡜ࡁ࡛ࡣ㸪Parallel Link Wire ࡣᘱࡳ㸪≌ᘬຊࡣఏ㐩ࡉࢀ࡞࠸ࡢ࡛㸪ྛᣦࡣ⊂❧࡞⮬⏤ᗘࢆᣢࡘ㸬୍᪉࡛ᣦጼໃࡢኚ໬࡟ࡼࡾ୧➃ࡢ㊥㞳ࡀ Parallel Link Wireࡢ㛗ࡉ࡜➼ࡋ࠸࡜ࡁ࡟ࡔࡅ㥑ືຊࢆ㓄ศࡍࡿ㸬ࡍ࡞ࢃࡕ
Parallel Link Wire ࡢ㛗ࡉࢆㄪᩚࡍࡿࡇ࡜࡛㸪⊂❧ࡋ࡚ື࠿ࡍࡇ࡜ࡢ࡛ࡁࡿ✌ാ⠊ᅖࢆㄪᩚ࡛ࡁࡿ㸬ADL ࡟ᚲせ࡜࡞ࡿ⮬⏤ᗘࢆᐇ⌧ࡋ࡞ࡀࡽࡶ㸪ືస࡟࠾ࡅࡿ෕㛗࡞⮬⏤ᗘࢆ฼⏝ࡋ࡚ᢕᣢຊྥୖࢆᅗࡿࡇ࡜࡛㸪⩏ᡭ࡜ࡋ࡚ࡢᶵ⬟ࢆ኱ࡁࡃᦆ࡞࠺ࡇ࡜࡞ࡃ㸪ᢕᣢຊࡢྥୖࡀᐇ⌧࡛ࡁࡿࡢ࡛࠶ࡿ㸬
3. 5 ᣦᆺࣟ࣎ࢵࢺࣁࣥࢻ࡬ࡢᐇ⿦๓⠇࡛㏙࡭ࡓ⪃࠼࡟ᇶ࡙ࡁ㸪ࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ㐺⏝ࡋࡓࣟ࣎ࢵࢺࣁࣥࢻࢆไసࡋࡓ㸬ᣦᵓ㐀ࡣ Fig.2 ࡟♧ࡍ࣡࢖ࣖ≌ᘬ࡟ࡼࡿᖸ΅㥑ືᵓ㐀ࢆ⏝࠸࡚࠾ࡾ㸪MP 㛵⠇ࡢࡳࢆ㥑ືࡉࡏࡿ MP Tendon Wire ࡜ 3 㛵⠇඲࡚ࢆ㥑ືࡉࡏࡿ
MP/DIP/PIP Tendon Wire ࡢ 2 ✀㢮ࡢ Tendon Wire ࢆࡑࢀࡒࢀO3-4-2A(b) Robot hand with Proposed idea

Fig.3 Taking tendon driving robot hand, outline of driving force
on pinching with thumb, 2nd and 3rd fingers.

DIP Joint

PIP Joint
MP Joint

Tendon Wire
Parallel Link WireActuators

Fig.4 Outline of parallel inference driven mechanism.
ఙᒎഃ㸪ᒅ᭤ഃ࡟タࡅࡓ㸬ࣟ࣎ࢵࢺࣁࣥࢻࢆື࠿ࡍ Tendon
Wire ࡣ㸪ᣦࡢ㛵⠇࡜࢔ࢡࢳ࢚࣮ࣗࢱ࡟᥋⥆ࡉࢀ࡚࠾ࡾ㸪
Spring Tube ࡟ࡼࡾಖㆤࡉࢀ࡚࠸ࡿ㸬Spring Tube ࡣ⮬⏤࡟᭤ࡆࡿࡇ࡜ࡀ࡛ࡁ࢔ࢡࢳ࢚࣮ࣗࢱࡢ⮬⏤࡞఩⨨タᐃࢆྍ⬟࡜ࡋ࡞ࡀࡽࡶ㸪ᗙᒅࡋ࡞࠸ࡢ࡛࢔ࢡࢳ࢚࣮ࣗࢱ࡜ࣟ࣎ࢵࢺࣁ
ࣥࢻࡢ㊥㞳ࢆಖࡕ㸪≌ᘬຊࢆྛ㛵⠇࡟ఏ㐩ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ 㸬 ࡲ ࡓ 㸪 ౑ ⏝ ࡋ ࡓ ࢔ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࢆ Fig.5 ࡟ ♧ ࡍ 㸬Servomotor ࡟ྲྀࡾ௜ࡅࡓ Servo Horn ࡢඛ➃࡟ Tendon Wireࡀ᥋⥆ࡉࢀ࡚࠾ࡾ㸪Servomotor ࡀᅇ㌿ࡍࡿࡇ࡜࡛ Tendon
Wire ࢆ≌ᘬࡍࡿ㸬࣮࣓ࣔࣥࢺ࢔࣮࣒㛗ࡣ Servomotor ࡢᅇ㌿ゅᗘ࡟ࡼࡾኚ໬ࡋ㸪᭱኱࡛ 220N ࡢ≌ᘬຊࢆᣢࡘ㸬 Fig.6 ࡟ 5 ᣦᆺࣟ࣎ࢵࢺࣁࣥࢻᐇ⿦ࡋࡓࣃࣛࣞࣝ࣡࢖ࣖᘧᖸ΅㥑ືࡢᴫ␎ᅗࢆ♧ࡍ㸬ࣟ࣎ࢵࢺࣁࣥࢻ࡜࢔ࢡࢳ࢚࣮ࣗࢱࡢ㛫࡟ Parallel Link Unit(௨㝆࡛ࡣ༢࡟ Unit ࡜ࡍࡿ)ࢆ
タࡅࡓ㸬ᣦࡣ Tendon Wire ࡢ≌ᘬ࡟ࡼࡾᒅ᭤࣭ఙᒎࡍࡿࡓ
ࡵ㸪ᚋ㏙ࡍࡿ Parallel Link Wire ࡢ⤖᮰㒊ࡀ᏶඲ఙᒎ࣭᏶඲ᒅ᭤࡟ᚲせ࡞ኚ఩㔞ࡔࡅ⛣ືࡍࡿࡓࡵ㸪Unit ෆ࡛ TendonWire ࢆ㟢ฟࡉࡏࡿᚲせࡀ࠶ࡾ㸪⟽≧࡜ࡋ࡚࠸ࡿ㸬
Unit ࡣ ෆ 㒊 ࡢ 1st layer(Fig.6 (a)) ࡜ እ 㒊 ࡢ 2nd layer(Fig.6(b)࠾ࡼࡧ(c))ࡢ 2 ᒙᵓ㐀࡜࡞ࡗ࡚࠸ࡿ㸬1st layer ࡣUnit ෆ㒊࡛ࣃࣛࣞࣝ໬ࢆᐇ⿦ࡋ࡚࠾ࡾ㸪♧ᣦ㸪୰ᣦ㸪⸆ᣦ㸪ᑠᣦࡑࢀࡒࢀࢆᒅ᭤ࡉࡏࡿ Tendon Wire ࡀ୪ࢇ࡛࠸ࡿ㸬ࡑ
ࡢ㏵୰࡛ Parallel Link Wire ࡀ⤖᮰ࡋ࡚࠶ࡾ㸪㞄ࡾྜ࠺
Tendon Wire ࡜⧅ࡀࡗ࡚࠸ࡿ㸬㞄ࡾྜ࠺ᣦࡢጼໃᕪࡀᏑᅾࡍ
ࡿ࡜ Tendon Wire ࡟ኚ఩ᕪࡀ⏕ࡌࡿ㸬ࡇࡢኚ఩ᕪࡀ Parallel
Link Wire ࡢ㛗ࡉࢆ㉸࠼ࡿ࡜㞄ࡾྜ࠺ᣦ࡬࡜≌ᘬຊࢆ㓄ศ

Table 1Tendon WireServo HornэParallel Unit(Flection Tendon)
эFinger(Extension Tendon)
Servomotor

Fig.5

Spring Tube Stopper

Outline of actuator for robot hand

Parallel Link Wire

Robot Hand

2nd Finger
3rd Finger
4th Finger
5th Finger
Tendon Wire
Spring Tube

Parallel Link Unit(a) 1st layer (link adjacent fingers)
Parallel Link Wire(linked outside the case)Tendon Wire Margin

Robot Hand
2nd Finger
3rd Finger
4th Finger
5th Finger

Actuators

Spring Tube
Parallel Link Unit(b) 2nd layer (link thumb and 5th fingers)
Spring Tube
(2nd layer)

Parallel Link Wire(2nd layer)

Robot Hand

2nd Finger
3rd Finger
4th Finger
5th Finger

Actuators

No.

Weight(g)Height(mm)Width(mm)Depth(mm)(a)(b)

150200505045602626(c)250507526(d)300

1004526(e)12002009026ࡍࡿ㸬ḟ࡟ 2nd layer ࡛ࡣ㸪Unit እ㒊ࢆ⤒⏤ࡋ࡚♧ᣦ࡜ᑠᣦࡢ Tendon Wire ࢆ᥋⥆ࡍࡿ Parallel Link Wire ࢆᐇ⿦ࡋ࡚࠸ࡿ㸬ࡇࢀࡣࣄࢺࡢᡭࡢᵓ㐀࡜ࡣ␗࡞ࡿࡀ㸪ᑠᣦࢆ⏝࠸ࡎ࡟⸆ᣦࢆ⏝࠸ࡿືసࡣ ADL ࡟ࡣ࡯࡜ࢇ࡝⌧ࢀ࡞࠸ࡢ࡛㸪ᑠᣦࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡢ≌ᘬຊࡣ⸆ᣦࡢࡳ࡞ࡽࡎ♧ᣦ࡟ࡶ㓄ศࡍࡿࡇ࡜࡛ຠ⋡໬ࡀぢ㎸ࡵࡿ࠿ࡽ࡛࠶ࡿ㸬ࡇࡢ 2 ᒙᵓ㐀ࡢ Unit ࡟ࡼࡾ㸪ືస࡟ᐤ୚ࡋ࡞࠸෕㛗࡞ᣦࡀ㸪ືస࡟ᐤ୚ࡍࡿᣦࡼࡾࡶ኱ࡁࡃᒅ᭤ࡍࡿࡇ࡜࡛≌ᘬຊࢆ㓄ศࡋ㸪ືస࡟ᐤ୚ࡍࡿᣦࡢ㥑ືຊࢆቑຍࡉࡏࡿ㸬࡞࠾㸪
ࡇࡢ Unit ࢆ㸪ᣦࡢ MP 㛵⠇ࡢࡳࢆᒅ᭤ࡉࡏࡿ MP TendonWire ࡜㸪3 㛵⠇ࡍ࡭࡚ࢆᒅ᭤ࡉࡏࡿ MP/PIP/DIP Tendon Wireࡑࢀࡒࢀ࡟ᐇ⿦ࡋࡓ㸬ࡲࡓ㸪 Parallel Link Wire ࡀ≌ᘬຊࢆఏ㐩ࡍࡿ࡜ࡁࡢ Tendon Wire ࡢኚ఩ᕪ(Tendon Wire Margin)ࡣ㸪ࡘࡲࡳືస࡛ᢕᣢࡍࡿ≀యࡢ኱ࡁࡉࢆ 50mm ࡲ࡛࡜௬ᐃࡋࡓ㝿㸪ࣟ࣎ࢵࢺࣁࣥࢻࡢᑍἲࢆࡶ࡜࡟⾜ࡗࡓࢩ࣑࣮ࣗࣞ ࢩ ࣙ ࣥ ࡟ ࡼ ࡾ 㓄 ศ ࡀ ᭷ ຠ ࡟ ࡞ ࡿ ኚ ఩ ᕪ (MP TendonWire㸸5mm㸪MP/PIP/DIP Tendon Wire㸸11mm)࡜ࡋࡓ㸬సᡂࡋࡓࣟ࣎ࢵࢺࣁࣥࢻࡢእほࢆ Fig.7 ࡟♧ࡍ㸬Fig.7 ୗ㒊࡟♧ࡍ㯮࠸ࢣ࣮ࢫࡀ Parallel Link Unit ࡛࠶ࡾ㸪࣓ࣥࢸࢼࣥࢫᛶࢆ⪃៖ࡋ኱ࡁࡃ࡞ࡗ࡚࠸ࡿࡀ㸪ෆ㒊ࡣవ๫ࢫ࣮࣌ࢫࡀ࡯࡜ࢇ࡝࡛ᑠᆺ໬ࡣᐜ࡛᫆࠶ࡿ㸬ࡲࡓ㸪ࣟ࣎ࢵࢺࣁࣥࢻ
ࡢ㔜㔞ቑࡣ 100g ⛬ᗘ࡛኱㒊ศࡀࢣ࣮ࢫ㔜㔞࡛࠶ࡿ㸬ࡇࢀࡶྵࡵࡓࣟ࣎ࢵࢺࣁࣥࢻࡢ඲㔜㔞ࡣ⣙ 1.3kg ࡛࠶ࡿ㸬

4. ホ౯ᐇ㦂
๓㏙ࡢ࡜࠾ࡾ㸪ࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ㐺⏝ࡍࡿ࡜ Parallel
Link Wire ࡢ㛗ࡉ࡟ᛂࡌ࡚ᡭࡢᣦጼໃ࡟ᙳ㡪ࡀฟࡿࡇ࡜࠿
ࡽ㸪ADL ࡟ᚲせ࡞ືసࡢ᭱⤊ጼໃࢆᐇ⾜࡛ࡁ࡞࠸ྍ⬟ᛶࡀ࠶ࡿ㸬ࡑࡇ࡛㸪ADL ࡛ᚲせ࡜࡞ࡿ 7 ✀ࡢືసࡢ᭱⤊ጼໃࢆᐇ⌧࡛ࡁࡿ࠿ࢆ☜ㄆࡋࡓ㸬ࡲࡓ㸪㧗࠸ᢕᣢຊࡀᚲせ࡜࡞ࡿᥱຊᢕᥱ࡜⢭ᐦᢕᥱࡢ 2 ືసࢆホ౯ࡋࡓ㸬4-1 ᥱຊᢕᥱ࡛ࡢᢕᣢຊ 㛤Ⓨࡋࡓࣟ࣎ࢵࢺࣁࣥࢻࡢ᭱኱ᢕᣢຊࢆ☜ㄆࡍࡿࡓࡵ㸪᭱ࡶຊࢆฟࡍࡇ࡜ࡢ࡛ࡁࡿጼໃ࡛࠶ࡿ㸪ᥱຊᢕᥱࢆ⾜ࡗࡓ࡜ࡁࡢᢕᣢຊࢆ ᐃࡋࡓ㸬┤ᚄ 65 mm ࡢ෇ᰕ㒊ᮦࢆᥱຊᢕᥱࡉࡏ㸪ࡇࡢᢕᣢ≀యࢆ≌ᘬࡋ㸪ᢕᣢᙧែࢆ⥔ᣢ࡛ࡁࡿ᭱኱Ⲵ㔜ࢆィ ࡋࡓ㸬ᢕᣢᙧែࡣᥱຊᢕᥱ࡜ẕᣦ࣭♧ᣦ࣭୰
ᣦࡢ 3 ᣦ࡛ᥱຊᢕᥱ࡜ྠࡌᣦጼໃ࡛ࡢᢕᣢ 2 ✀ࢆィ ࡋ㸪ᚋ⪅࡛ࡣࣃࣛࣞࣝᘧᖸ΅㥑ືࡢ᭷↓࡟ࡼࡿẚ㍑ࡋࡓ㸬
4-2 ➽㟁⩏ᡭ࡬ࡢ㐺⏝ࡉࡽ࡟➽㟁⩏ᡭ࡬ࡢࣃࣛࣞࣝᘧᖸ΅㥑ືࡢ᭷ຠᛶ᳨ドࡢࡓࡵ㸪ᢕᣢྍ⬟࡞᭱኱㔜㔞࡜ᢕᣢືస࡬ࡢᙳ㡪ࢆㄪ࡭ࡓ㸬ୖ⫥ษ᩿ࡢ⿕㦂⪅(30 ௦⏨ᛶ 1 ྡ)ࡢ༠ຊࡢࡶ࡜㸪ࢸ࣮ࣈࣝୖࡢ≀యࢆᢕᣢࡋ㸪40cm 㞳ࢀࡓሙᡤ࡟⛣ືࡉࡏࡿ Pick andPlace ࢱࢫࢡࢆ⾜ࡗࡓ㸬➽㟁఩࠿ࡽࡢືసពᅗ᥎ᐃࡣຍ⸨ࡽ
(6)ࡢ㆑ูἲࢆ⏝࠸㸪ヨ⾜ࡈ࡜࡟⿕㦂⪅ࡢ㐠ືពᅗࢆᏳᐃࡋ
࡚㆑ู࡛ࡁࡿࡇ࡜ࢆ☜ㄆࡋ࡞ࡀࡽ⾜ࡗࡓ㸬ࡲࡓ㸪㏵୰࡛ⴠ
ୗࡋࡓሙྜࡣ඲࡚ኻᩋ࡜ࡋ㸪Ᏻᐃࡋ࡚⛣ື࡛ࡁࡓሙྜࡢࡳ
ࢆᡂຌ࡜ࡋࡓ㸬ᢕᣢᙧែࡣࣃࣛࣞࣝᘧᖸ΅㥑ື࡟ࡼࡾᕪࡀ

Tendon Wire Margin

Actuators

Grip object

Parallel Link Unit(c) Side viewFig.6 Outline of parallel wire mechanism
Actuators
Robot Hand

Parallel Unit

Fig.7 Appearance of new robot handO3-4-3

(a) Power grip(c) Lateral pinch(b) Precision grip(d) Hook grip(f) Finger-point(e) Tripod grip(g) Gesturing

Fig.8

Hand motion of robot hand
Table 2

Grip Force (N)5 fingers
3 fingers

58.0
31.7

3 fingers using proposed mechanism

44.3

Table 3(a)
(b)
(c)
(d)
(e)

Result of Pick and Place task

Conventional
robot hand
Success13127
2-6. ⤖ゝ࡜௒ᚋࡢᒎᮃ
ᮏ◊✲࡛ࡣ㸪ᢕᣢືసࡢጼໃ࡟ᛂࡌ࡚ືస࡟ᐤ୚ࡋ࡞࠸
࢔ࢡࢳ࢚࣮ࣗࢱࡢ㥑ືຊࢆ฼⏝ࡋ㸪➽㟁⩏ᡭࡢᢕᣢຊࢆྥ
ୖ࡛ࡁࡿࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ⏝࠸ࡓ 5 ᣦᆺࣟ࣎ࢵࢺࣁࣥࢻࡢ㛤Ⓨࢆ⾜ࡗࡓ㸬ࡑࡋ࡚ྍ⬟࡞ᡭᣦࡢጼໃ࡜ᢕᥱࢱࢫࢡࢆホ౯ࡍࡿࡇ࡜࡛㸪➽㟁⩏ᡭ㐺⏝ࡢ᭷ຠᛶࢆ᳨ドࡋࡓ㸬௒ᚋࡢㄢ㢟࡜ࡋ࡚㸪せồࡉࢀࡿ㐠ືᶵ⬟࡜ᢕᣢຊ࡟ྜࢃࡏࡓࣃࣛࣞࣝ໬ࡢ᭱㐺࡞⤌ࡳྜࢃࡏࡢỴᐃࡸ㸪Parallel Link
Unit ࡢᑠᆺ໬࠾ࡼࡧ㍍㔞໬࡞࡝ࡀᣲࡆࡽࢀࡿ㸬

Grip force

Grip Posture (Power Grip)No.

ࡽࡤ෕㛗࡞࢔ࢡࢳ࢚࣮ࣗࢱࡢ㥑ືຊࡀఏ㐩ࡉࢀ࡚㧗࠸ᢕᣢຊࢆⓎ᥹࡛ࡁࡿ㸬ࡍ࡞ࢃࡕ㸪⢭ᐦᢕᥱ࡛ࡣ⸆ᣦ࡜ᑠᣦࢆᒅ᭤ࡍࢀࡤࡼ࠸㸬ࡲࡓ㸪ᣦࡉࡋࡸࡌࡷࢇࡅࢇࡢᙧែ࡛ࡶྠᵝࡢ⌮⏤࡟ࡼࡾᢕᣢຊࡀపୗࡍࡿࡀ㸪ࡇࢀࡽࡣᢕᣢຊࢆせồࡉࢀ࡞࠸ືస࡛࠶ࡿ㸬௨ୖࡢࡇ࡜࠿ࡽ㸪ࣃࣛࣞࣝᘧᖸ΅㥑ື࡟ࡼࡿไ⣙ࡣ ADL ࢆ⾜࠺࡟ࡣᨭ㞀ࡀ࡞࠸㸬
5-1 ྛᢕᣢᙧែ࡛ࡢᢕᣢຊ ᢕᣢຊࡢィ ⤖ᯝࢆ Table 2 ࡟♧ࡍ㸬3 ᣦᢕᥱ࡛ࡣࣃࣛࣞࣝᘧᖸ΅㥑ື࡟ࡼࡾ 44.3N ࡢᢕᣢຊࡀⓎ᥹࡛ࡁࡿ㸬ࡇࢀࡣࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ⏝࠸࡞࠸ሙྜ࡜ẚ࡭࡚⣙ 40%ቑຍࡋ࡚࠾ࡾ㸪ᥦ᱌ᶵᵓࡢ᭷ຠᛶࡀド᫂ࡉࢀࡓ㸬୍᪉࡛ 5 ᣦᢕᥱ࡜ẚ࡭ࡿ࡜⣙ 24㸣పࡃ㸪 Parallel Link Unit ࡛ࡢᦆኻ࡜⪃࠼
ࡽࢀࡿ㸬Parallel Link Wire ࡢྲྀࡾᅇࡋ᪉ἲࢆᨵⰋࡍࡿࡇ࡜࡛≌ᘬຊ㓄ศࡢຠ⋡໬ࡀぢ㎸ࡵࡿ㸬5-2 ➽㟁⩏ᡭ࡬ࡢ㐺⏝ Pick and Place ࢱࢫࢡࡢ⤖ᯝࢆ Table 3 ࡟♧ࡍ㸬ࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ⏝࠸࡚࠸࡞࠸ሙྜ࡛ࡣ 250g ࡢᢕᣢࡀ㝈⏺ࡔࡀ㸪ࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ⏝࠸ࡓሙྜ࡛ࡣ 1kg ࢆ㉸࠼࡚ࡶᏳᐃࡋ࡚ᢕᣢ࠾ࡼࡧ⛣ືࡉࡏࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࡲࡓ㸪୧⪅ࡀ࡜ࡶ࡟ᢕᣢྍ⬟࡞ 250g ௨ୗࡢࢱࢫࢡ࡛ࡶ㸪ᡂຌᩘࡣࣃࣛࣞࣝᘧᖸ΅㥑ືࢆ⏝࠸ࡓࣟ࣎ࢵࢺࣁࣥࢻࡢ࡯࠺ࡀ඲࡚ୖᅇࡗ࡚࠸ࡿ㸬ࡇࢀࡣᢕᣢྍ⬟࡞㔜㔞≀య࡟࠾࠸࡚ࡶ㸪༑஧ศ࡟㧗࠸ᢕᣢຊ࡟ࡼࡾᏳᐃࡋ࡚ᢕᣢ࡛ࡁࡿࡇ࡜࡛ࢱࢫࢡ 1 ᅇ࠶ࡓࡾࡢ᫬㛫ࡀ▷⦰ࡉࢀ࡚࠸ࡿ࡜⪃࠼ࡽࢀࡿ㸬ࡍ࡞ࢃࡕ㸪㧗࠸ᢕᣢຊࡢᐇ⌧࡟ࡼࡾᢕᣢྍ⬟࡞㔜㔞ࡢቑຍࡔࡅ࡛࡞ࡃ㸪ᢕᣢࡢᏳᐃᛶࡶྥୖࡋ࡚࠸ࡿ㸬Miss
00
16-Robot hand using
proposed mechanism
Success
1515141514ཧ⪃ᩥ⊩Miss
0000
1(1)

(2)
(3)

⏕ࡌࡿ㸪୍㒊ࡢᣦࡢࡳࢆ⏝࠸ࡿືసࡢ౛࡜ࡋ࡚㸪ẕᣦ࣭♧ᣦ࣭୰ᣦࡢ 3 ᣦ࡟ࡼࡿ⢭ᐦᢕᥱ࡜ࡋ㸪 30 ⛊㛫ࡢᡂຌᩘࢆ
ィᩘࡋࡓ㸬ᢕᣢ≀యࡢᙧ≧ࣃ࣓࣮ࣛࢱࢆ Table 1 ࡟♧ࡍ㸬࡞࠾㸪ᢕᣢ≀యࢆᢕᣢࡍࡿ㒊ศࡣ 26mm ࡢ㒊ศ࡛࠶ࡾ㸪㔜㔞ࡀኚ໬ࡋ࡚ࡶᢕᣢᙧែࡣ୍ᐃ࡛࠶ࡿ㸬

(4)

(5)

5. ᐇ㦂⤖ᯝ࣭⪃ᐹᮏ✏࡛㛤Ⓨࡋࡓࣟ࣎ࢵࢺࣁࣥࢻࡢ ADL ࡟ᚲせ࡞ 7 ✀ࡢືసࡢ᭱⤊ጼໃࢆ Fig.8 ࡟♧ࡍ㸬ࢪ࢙ࢫࢳࣕ࡟ࡘ࠸࡚ࡣᵝࠎ⪃࠼ࡽࢀࡿࡀ㸪඾ᆺⓗ࡞౛࡜ࡋ࡚ࡌࡷࢇࡅࢇࡢ 3 ᙧែࢆ᥇⏝ࡋࡓ㸬 ᭱⤊ጼໃࡢ඲࡚࡟࠾࠸࡚ࣃࣛࣞࣝᘧᖸ΅㥑ື࡟ࡼࡿไ⣙ࡢᙳ㡪ࡣ࡞࠸㸬࡞࠾㸪⢭ᐦᢕᥱ࡛ࡣ Fig.8(b)࡛♧ࡍࡼ࠺࡟㸪ືస࡟ᐤ୚ࡋ࡞࠸⸆ᣦ࡜ᑠᣦࡀఙᒎࡋࡓ≧ែ㸦ᕥ㸧࡜ᒅ᭤ࡋࡓ≧ែ㸦ྑ㸧ࡢ୧᪉ࡀ⪃࠼ࡽࢀࡿ㸬ࣃࣛࣞࣝᘧᖸ΅㥑ື࡟ࡼࡾ㸪ఙᒎ≧ែ࡛ࡣືస࡟ᐤ୚ࡍࡿᣦ࡜ࡋ࡞࠸ᣦ࡜ࡀᖸ΅ࡋ࡚༑ศ࡞ᢕᣢຊࡀⓎ᥹࡛ࡁ࡞࠸ࡀ㸪ᒅ᭤≧ែ࡞

(6)
(7)
(8)

O3-4-4

Marco Controzzi,Marco Donati, and Maria Chiara Carroz-za,“Bio-Inspired Mechanical Design of a Tendon-Driven Dexterous Prosthetic Hand,” Proc. of 32nd Annual International
Conference of the IEEE EMBS Buenos Aires, Argentina, Aug.
31-Sep. 4, 2010.
Ottobock Product Webpage, 2011, http://www.ottobock.com/
cps/rde/xchg/ob_us_en/hs.xsl/6952.html
Touch Bionics I-Limb Hand User Manual, March 2010,
http://www.touchbionics.com/docLibrary/US%20iLIMB%20u
ser%20manual%20mar%202010.pdf
Y. Kamikawa, T. Maeno, “Underactuated Five-Finger Prosthetic Hand Inspired by Grasping Force Distribution of Humans,” 2008 IEEE/RSJ International Conference on Intelligent
Robots and Systems, pp. 717-722, Nice, France, Sept 22-26,2008.
H. Liu, K. Wu, P. Meusel, N. Seitz, G. Hirzinger, M.H. Jin,Y.W. Liu, S.W. Fan, T. Lan, Z.P.Chen, “Multisensory
Five-Fingered Dexterous Hand: The DLR/HIT Hand II,” proceedings of the 2008 IEEE/RSJ International Conference onIntelligent Robots and System, pp. 3692-3697, Nice, France,
Sept 22-26, 2008.
ຍ⸨㱟㸪ᶓ஭ᾈྐ㸪➽㟁⩏ᡭ౑⏝࡟ࡼࡿ㐠ືᶵ⬟෌ᘓ࡜ホ౯㸪᪥ᮏࣟ࣎ࢵࢺᏛ఍ㄅ㸪Vol.27, No.8, pp.102-108㜝㐩ஓ㸪ຍ⸨㱟㸪ᶓ஭ᾈྐ㸪஬ᣦᆺ➽㟁⩏ᡭࡢࡓࡵࡢ࣡࢖ࣖᖸ΅㥑ື࣓࢝ࢽࢬ࣒ -ከᣦࢆ㊬ࡄ஧㛵⠇➽ᵓ㐀ࡢᥦ᱌-㸪➨28ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍Ꮫ⾡ㅮ₇఍㸪1J2-7㸪Sep. 2010.
C. Capriani, M. Controzzi, M.C. Carrozza, “Objectives, criteria and methods for the design of the SmartHand transradial
prosthesis,” Robotica 2010, vol. 28 pp. 919-927, 2010.