指の力学モデリング Heads: 平井 慎一 Contact: 王 忠奎 Date: 2012 - Mailing address: 立命館大学ロボティクス学科 〒525-8577 滋賀県草津市野路東1-1-1 Supported by: Associated lab/group: Multi-Scale Robotics Lab., IRIS, ETH, Switzerland

研究内容

本研究では，指の力学モデルを構築する．MRI撮像から指の組織を識別し，指の有限要素モデルを構築する．モデルのダイナミクス解析を通して，ヒトの触知覚を理解することを目指す．

担当

	名前	学年	学位
	Damith Suresh Chathuranga	モラトゥワ大学	博士（工学）
	Van Anh Ho	北陸先端科学技術大学院大学	工学博士
	王　忠奎	立命館大学	工学博士
	浪間　一希	Graduated	工学修士

研究発表

• Van Ho and Shinichi Hirai, Mechanics of Localized Slippage in Tactile Sensing, ISBN 978-3-319-04122-3, Springer, Springer Tracts in Advanced Robotics 99, 10.1007/978-3-319-04123-0, 2014

• Zhongkui Wang, Lijuan Wang, Van Anh Ho, Shigehiro Morikawa, and Shinichi Hirai, A 3-D Nonhomogeneous FE Model of Human Fingertip Based on MRI Measurements, IEEE Trans. on Instrumentation and Measurement, Vol.61, No.12, pp.3147-3157, 10.1109/TIM.2012.2205102, Dec., 2012

• Zhongkui Wang, Damith Suresh Chathuranga, and Shinichi Hirai, Study on Fingertip Slippage using FE Model for Developing Human-Like Tactile Sensor, 2015 Int. Conf. on Real-time Computing and Robotics (RCAR 2015), Empark Grand Hotel, Changsha, China, June 23-26, 2015   Finalist for Best Conference Paper Award
• Van Anh Ho and Shinichi Hirai, Toward a Platform of Human-Like Fingertip Model in Hapti Environment for Studying Sliding Tactile Mechanism, Robotics: Science and Systems 2013, Technische Universität Berlin, Berlin, Germany, June 24-28, 2013
• Van Ho and Shinichi Hirai, Three-Dimensional Modeling and Simulation of the Sliding Motion of a Soft Fingertip with Friction, Focusing on Stick-Slip Transition, Proc. IEEE Int. Conf. on Robotics and Automation, pp.5233-5239, 10.1109/ICRA.2011.5979901, Shanghai, China, May 9-13, 2011
• Van Ho and Shinichi Hirai, Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon, Robotics: Science and Systems VII, pp.129-136, Los Angeles, CA, U.S.A., June 27 - July 1, 2011
• Zhongkui Wang, Yoshiyuki Abe, Shinichi Hirai, and Shigehiro Morikawa, A 3D FE Dynamic Model of Human Fingertip Based on MRI Data, 2011 IEEE Int. Symp. on Haptic Audio-Visual Environments and Games (HAVE 2011), pp.8-12, 10.1109/HAVE.2011.6088383, Yanshan Univ., Qinhuangdao, Hebei, China, Oct. 15-16, 2011
• Van Ho and Shinichi Hirai, Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4315-4321, 10.1109/ROBOT.2010.5509330, Anchorage, Alaska, U.S.A., May 3-8, 2010
• Kazuki Namima, Zhongkui Wang, and Shinichi Hirai, Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM and CSM, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2009), pp.1585-1590, 10.1109/ROBIO.2009.5420393, Guilin, China, Dec. 19-23, 2009

• Van Anh Ho, Zhongkui Wang, and Shinichi Hirai, Beam Bundle Model of Human Fingertip during Pre-Slide Phase, 30th Annual Conference of Robotics Society of Japan, Sapporo, Japan, Sept. 17-20, 2012
• Van Anh Ho and Shinichi Hirai, Toward a Platform for Modeling and Simulating Dynamic Stick-Slip Transitions of Soft Fingertips, 第16回ロボティクスシンポジア予稿集, pp.275-282, 指宿シーサイドホテル, Mar. 14-15, 2011
• 小野田 裕亮, Ho Anh Van, 平井 慎一, 柔軟指の初期滑りの計測, 第29回日本ロボット学会学術講演会, 豊洲, Sept. 7-9, 2011
• Van Anh Ho, 平井 慎一, Modeling and Simulation of the Sliding Motion of a 3-D Soft Fingertip with Friction, Focusing on Stick-Slip Transition, 第28回日本ロボット学会学術講演, 名古屋, Sept. 22-24, 2010
• HO ANH VAN, 平井 慎一, Two-Dimensional Model of Sliding Motion of a Soft Fingertip Focusing on Stick-to-Slip Transition, 第27回日本ロボット学会学術講演会予稿集CD-ROM, 横浜, Sept. 15-17, 2009

参考資料

指先モデル

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