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Paper Abstract and Keywords
Presentation 2013-03-14 16:00
Rolling Contact MP Joint Model Inspired by Musculoskeletal Structure of Metacarpophalangeal Joint -- Analysis of Rolling Contact MP Joint Model in Agonist-antagonist Muscle Coordination --
Arisa Endo, Atsushi Nishikawa (Shinshu Univ.) HIP2012-102
Abstract (in Japanese) (See Japanese page) 
(in English) Recently, in a research area of humanoid robots that act with human, the development with focus on safety and movement like human is required.
In the study of safety, some uses pneumatic actuators instead of the motor.
The other works the improvement of exterior covering materials.
In terms of movement, however, humanoid robots with only hinge joints cannot move like the human.
Then we proposed a novel joint model, named “the elliptical rolling contact MP joint model” imitating human musculoskeletal structure.
In this paper, the joint model we proposed and its kinematic theory are shown.
Keyword (in Japanese) (See Japanese page) 
(in English) agonist-antagonist muscle coordination / finger robot / kinematic theory / biomimetics / biorobotics / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 483, HIP2012-102, pp. 143-148, March 2013.
Paper # HIP2012-102 
Date of Issue 2013-03-06 (HIP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF HIP2012-102

Conference Information
Committee HIP  
Conference Date 2013-03-13 - 2013-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) okinawa-sangyoushien center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Haptics, Hand, etc. 
Paper Information
Registration To HIP 
Conference Code 2013-03-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Rolling Contact MP Joint Model Inspired by Musculoskeletal Structure of Metacarpophalangeal Joint 
Sub Title (in English) Analysis of Rolling Contact MP Joint Model in Agonist-antagonist Muscle Coordination 
Keyword(1) agonist-antagonist muscle coordination  
Keyword(2) finger robot  
Keyword(3) kinematic theory  
Keyword(4) biomimetics  
Keyword(5) biorobotics  
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1st Author's Name Arisa Endo  
1st Author's Affiliation Shinshu University (Shinshu Univ.)
2nd Author's Name Atsushi Nishikawa  
2nd Author's Affiliation Shinshu University (Shinshu Univ.)
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Speaker Author-1 
Date Time 2013-03-14 16:00:00 
Presentation Time 20 minutes 
Registration for HIP 
Paper # HIP2012-102 
Volume (vol) vol.112 
Number (no) no.483 
Page pp.143-148 
#Pages 6 
Date of Issue 2013-03-06 (HIP) 

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