@article{oai:kanazawa-u.repo.nii.ac.jp:00043998,
 author = {Ishisaki, Atsushi and Hikizu, Masatoshi and Seki, Hiroaki and Kamiya, Yoshitsugu and 石崎, 篤 and 疋津, 正利 and 関, 啓明 and 神谷, 好承},
 issue = {I74},
 journal = {精密工学会学術講演会講演論文集, 2008 JSPE Spring Meeting},
 month = {},
 note = {Our study discusses manipulation of an object grasped by a three-fingered robotic hand whose fingers have three DOFs respectively. When the hand is grasping an object, and gives a certain position and a posture to it, a triangle plain formed by connecting the three fingertips also takes the same position and the posture. In this study we define the plain "platform". We first propose a method to derive finger movements for object manipulation, from finger movements that cause changes in positions and postures of the platform. Then we verify the effectiveness of the method thorough actual manipulations with equipments. 
 
\n物体を把持した3自由度3指ハンドをパラレルメカニズムとほぼ同様のものと捉え,各指の指先を結んで出来る三角形平面を指先プラットホームと定義する.本研究ではこの指先プラットホームの姿勢及び位置の変化を基に把持物体の運動を考えることにより,間便に各指および把持物体の位置・姿勢の制御を行う., 出版者照会後に全文公開, 金沢大学理工研究域機械工学系},
 pages = {779--780},
 title = {指先プラットホームを用いた多指ハンドの位置・姿勢制御},
 volume = {2008 Spring},
 year = {2008}
}