物体把持時における複数指を対象とした接触力の関係解析

Abstract

人間と物体のインタラクションの中でも, 手の把持動作を理解することは重要である. 把持動作時における把持姿勢の分類や指先の接触力の解析は多く取り組まれている. しかし, 様々な物体に対して自然な把持動作を行った際の複数指を対象とした接触力の計測は行われておらず, 複数指の接触力の関係性も明らかにされていない. 本研究では, 異なる重さの円柱状物体を把持した際の母指, 示指, 中指の接触力を計測した. 7名に対して計測を行い, 被験者ごとに物体の重さに対する各指の接触力のバランスを算出した. 3指の接触力のバランスについてサポートベクターマシンを用いて異なる重さの識別を試みた. その結果, 重さによって各指の接触力のバランスが変化する被験者と変化しない被験者が確認された.

Among human-object interactions, it is important to understand how to grasp objects by human hand. Many researchers tried to classify postures during grasping operations and tackled to understand transition of forces during grasping. However, contact forces of multiple fingers during natural grasping operations with various objects have not been measured and the relationship between contact forces was not clarified. In this study, we measure the contact forces of thumb, index and middle fingers during lifting cylindrical objects with different weights. Seven healthy subjects participated in user experiments to compute the balances of the contact forces for each weight, each subject. Then, the balances for each weight are clarified by support vector machine. The analysis results showed that the subjects were classified into two groups. A difference in the balance of the contact forces was found from the first group, and any difference was not found from the second group.