Analysis of Friction Characteristics on Human Fingers

Abstract

In many cases of human hand tasks, grasping and manipulation of objects are most basic motions. However , the physical characteristics of human finger on grasping motions have not yet been sufficiently clarified. For example, the friction effect which is an important characteristic on grasping motions have been hardly investigated. In this study, we pay attention to friction between a finger and an object. At first, we develop a system to measure the friction of fingers. Next, basing on the experimental results obtained from the developed measurement system, we propose a new model of the maximum static friction force of human fingers. Also, we have found out that the friction forces are changed depending on the directions of tangential forces. Finally, we realize a finger tip which is made of silicone rubber and whose characteristics are similar to human fingers. Key Words: human hand, friction of finger , normal force, tangential force 1. •˜ ˜_ •l ŠÔ‚Ì •‚"x ‚ÈŽè •ì ‹AE‚Ì "\-Í ‚ðƒ•ƒ{ ƒbƒg‚É'ã 'Ö ‚³‚¹ ‚é ‚½‚ß ‚É,'½ Žw ƒn ƒ" ƒh‚ÌOE¤ ‹ † ‚Í•K-v•s ‰Â OE ‡ ‚È•ª-ì ‚Å ‚ ‚é1)2)3). ƒ•ƒ{ ƒb ƒgƒn ƒ" ƒh ‚É ‚ae ‚è'Î •Û •¨ ‚ð '€ ‚é•Û ‚É ‚Í,Žw •ae ‚Ì •ÃŽ~-€ŽC ‚ª"ñ •í ‚É•d-v ‚Å ‚ ‚é.‚± ‚ê ‚ç‚ÌOE¤ ‹ † ‚Å ‚Í'Î •Û •¨ 'Ì ‚Ì '€ ‚è‚É ŠÖ ‚µ‚Ä,-Í Šw "I ‚É•Ú •× ‚ȉð•Í ‚ª •s ‚í‚ê ‚Ä ‚¢ ‚é ‚à‚Ì ‚Ì,Žw •ae ‚Ì-€ ŽC OE» •Û ‚Í ŠÈ'P ‚È•" Šw ƒ‚ƒf ƒ‹‚ª •ì ‚è"ï ‚¢ ‚½ ‚ß ‚É,-€ ŽC ‰~•• ‚Ƀ‚ƒf ƒ‹‰» ‚· ‚é ‚à‚Ì‚ª '½ ‚¢.‚µ ‚© ‚µ,ŽÀ •Û ‚É‚Í-€ ŽC ‰~•• ‚Í-¢ 'm ‚Å ‚ ‚è,‚± ‚ê ‚ð'm ‚ç‚È‚¯ ‚ê ‚Î •l ‚¦ ‚Ä ‚¢ ‚é• § OEä '¥ ‚àŽÀOE» ‚Å ‚«‚È‚¢ •ê • ‡ ‚à'½ ‚¢.ˆê •û,-€ ŽC OEø ‰Ê ‚ÌŽw •W ‚Å ‚ ‚é-€ ŽC OEW •" ‚Í•Ú •ü-Í ‚AE-@ •ü-Í ‚AE‚Ì "ä ‚Å•\ ‚³‚ê ‚é ‚ª,•l ŠÔ ‚ÌŽw •ae ‚É ‚¨‚¢‚Ä‚¨‚¢‚Ä ‚Í ‚» ‚Ì•_"î •« ‚É ‚ae ‚è•ÃŽ~-€ ŽC OEW •" ‚Í1.5ˆÈ •ã,•ê • ‡ ‚É ‚ae‚Á ‚Ä ‚Í2.5‚ð '´ ‚¦ ‚é.'½ ‚-‚Ì ‹à'® ŠÔ ‚É‚¨‚¯‚É‚¨‚¯ ‚é-€ ŽC OEW •" ‚ª ‚Ù ‚Ú0.6•`1.2‚Ì ŠÔ ‚É ‚ ‚é ‚± ‚AE ‚AE"ä Šr ‚· ‚é ‚AE•l ŠÔ ‚ÌŽw ‚Ì-€ŽC OEW •" ‚Í‚© ‚È ‚è'å ‚«‚¢ ‚± ‚AE ‚ª ‚í‚© ‚é.‚± ‚Ì ‚± ‚AE‚© ‚ç•l ŠÔ ‚Í-l •X ‚ÈŠp "x ‚Ì-Í ‚ðŽw •ae ‚© ‚ç"-• ¶ ‚Å ‚«,'½ ‚-‚Ì•ç '· ‚ȉð ‚Ì ' † ‚© ‚ç•Å "K‰ð ‚ð'I ‚Ô ‚± ‚AE ‚ª ‚Å ‚« ‚é ‚AE•l ‚¦ ‚ç‚ê ‚é.‚» ‚ÌOE‹ ‰Ê,'½ Žw 'S'Ì ‚AE ‚µ‚Ä •I-‚ȉ^ "® ‚ªŽÀ OE» ‚³‚ê ‚é.‚µ ‚½ ‚ª ‚Á ‚Ä,'½ Žw ƒ•ƒ{ ƒb ƒgƒn ƒ" ƒh ‚ð•Ý OEv‚· ‚é•Û ‚É ‚à•l ŠÔ ‚AE"¯'ö "x ‚Ì-€ ŽC OEW •" ‚ð ‚à‚ ‚± ‚AE‚Í, '½-l ‚È-̓p ƒ^•[ ƒ"‚ð'Î •Û•¨ ‚É•ì-p ‚³‚¹ ‚é ‚½ ‚ß ‚É•d-v ‚Å ‚ ‚é.•l ŠÔ ‚ÌŽw ‚AE-ÞŽ-‚µ‚½-€ ŽC "Á •« ‚ð ‚à‚ ƒ•ƒ{ ƒb•[ ƒgƒn ƒ" ƒh ‚ðŠJ"-‚· ‚é ‚± ‚AE‚Í ƒ•ƒ{ ƒb ƒg•H Šw ‚Ì-l •X‚È •ª-ì ‚Å-v ‹• ‚³‚ê ‚Ä‚¢ ‚é.-á ‚¦‚Î,‰F 'ˆ,•[ ŠC,OE´ŽqOE´Žq-Í ‚È ‚Ç‚Ì‹É OEÀ •ì ‹AE ‚ð ‰" Šu '€•ì ‚É ‚ae ‚è•‹ •s ‚· ‚é ƒ} ƒX ƒ^•[ ƒX ƒOE•[ ƒu ƒVƒX ƒe ƒ€ ‚É ‚¨ ‚¢ ‚Ä,ƒX ƒOE•[ ƒu'¤ ‚É•l ŠÔ ‚ÌŽè ‚AE"¯-l ‚È-€ŽC "Á •«,•_ "î •« ‚ðŽ• ‚ ƒ• ƒ{ ƒb ƒgƒn ƒ" ƒh ‚ð-p ‚¢‚ê ‚Î,ƒI ƒy ƒOE•[ ƒ^‚ª Ž©•ª ‚Ì •¨-• "I '¼ Š´‚ÅŠ´‚Å 'Î •Û •¨ ‚ð"c ˆ¬ ‚µ,'€ ‚é ‚± ‚AE‚ª‰Â "\ ‚Å ‚ ‚è, OE‹ ‰Ê "I ‚Ƀ} ƒX ƒ^•['¤ ‚Ì'€ •ì •« ‚ðOEü •ã ‚³‚¹ ‚é ‚± ‚AE‚É ‚ ‚È‚ª ‚é.‚» ‚Ì ‚ae ‚¤‚È ƒ•ƒ{ ƒb ƒgƒn ƒ" ƒh ‚ð•ÝOEv •EŠJ"-‚· ‚é ‚½ ‚ß ‚É ‚Í,‚Ü ‚¸•‚¸•l ŠÔ ‚ÌŽw ‚Ì-€ ŽC "Á•« ‚ð'² ‚× ‚é ‚± ‚AE‚ª•K-v ‚AE‚È ‚é. •l ŠÔ ‚Ì Žè Žw ‚Ì-€ ŽC "Á •« ‚ð•¸-§ ‚É 'ª 'è ‚· ‚éOE¤ ‹ † ‚Í •-‚È ‚¢4)5)6).Žw •ae ‚Ì•Ã Ž~-€ŽC OE» •Û ‚ð•l ‚¦ ‚é •Û ‚É"ï ‚µ‚¢"_ ‚Í Žw •ae ‚ª •_"î ‚Å‚ ‚è•ÏOE`ÏOE`‚ð"º ‚¤‚± ‚AE‚Å ‚ ‚é.‚» ‚Ì ‚½‚ß ‚É•• 'Ê ‚Ì ƒN•[ ƒ• ƒ"-€ŽCˆÈ€ŽCˆÈ ŠO ‚É‚¹ ‚ñ 'f-€ ŽC ‚AEOEÄ ‚Î‚ê ‚é ‚à‚Ì ‚ª ‰Á ‚í ‚é.‚» ‚êOEÌ ‚É,•Ú •\-Ê ‚É•‚ '¼ ‚È-Í ‚ª •¬ ‚³ ‚-‚È ‚é ‚É ‚µ‚½ •õ 'ae5‰ñ ƒ•ƒ{ ƒb ƒgƒV ƒ"ƒ| ƒW ƒE ƒ€‚Å "-•\(1995•E5) •