CPG-based rhythmic manipulation for a multi-fingered hand from human observation
Yuichi Kurita · Institutional Repositories DataBase (IRDB) · 2004
In this thesis, a CPG-based control based on human manipulations is proposed for rhythmic manipulations by a multi-fingered hand.Humans can dextrously manipulate various objects using their fingers cooperatively.Adaptive motions in animals and insects can also be observed according to a variety of environments.Neurophysiological studies have revealed that rhythmic motor patterns such as locomotion are coordinated by central pattern generators (CPG) and take an important role in the adaptive motions.In a rotating manipulation of an object, rhythmic finger motions can be observed.The CPG-based control of the fingers has possibilities to achieve dextrous capabilities like humans.In this study, Human's rhythmic manipulations is investigated.Based on the analysis, the CPG-based control for dextrous manipulations is proposed.Human's force programming is investigated in the chapter 3 by the experiments where subjects grasp various weighted objects.Anticipatory calculation of the fingertip force before the grasp takes an important role in human's sophisticated grasp.In the experiments, the applied grip/load force and the electromyography (EMG) of intrinsic muscles are simultaneously measured.The effects of the rhythmic motions and the force programming on the grasping motions are analyzed based on the experiments.Human's rhythmic motions are investigated in the chapter 4 by measuring contact condition during a rotating manipulation of a cylindrical object.Typical