The purpose of this study was to investigate the static mechanical properties of the fingertips in order to develop the soft artificial fingertips for the myoelectric prosthetic hand. In this paper, relation between the strain and stress of the skin and tissue were investigated as the mechanical properties. The subjects were four normal men and one normal woman. Subject's index finger and forearm was fixed. The ventral surface of the index finger was pressed with the plate made of the aluminum by changing the displacement of the plate. Then, force applied to the plate, and pressurizing area that the plate comes in contact with the fingertip was measured. These experiments were executed at the various displacements. The strain-stress relation was calculated from them. It was shown that the stress was increased non-linearly with increasing of the strain. The artificial fingertips based on the obtained properties were developed. These tips were made from urethane resin. It was shown that the strain-stress relation of the artificial fingertip was similar to the mechanical properties of the human fingertips. Finally, in order to investigate usefulness of the developed artificial finger, we executed myoelectric control experiments by using the prosthetic hand.%本研究の目的は，筋電義手の柔らかい人工指先部を開発するためのヒト指先部の力学的特性測定である.本論文では，力学的特性として皮膚と組織の応力と歪みの関係を測定する.被験者は健常男子4名と健常女子1名である.被験者の示持と前腕を固定する.示指の指腹部の皮膚表面をアルミ板の変位を変えることで加圧する.そして，アルミ板に加わる力，および指先とアルミ板が接触している加圧領域を測定する.この実験を様々な変位で行う.応力ー歪み関係をそれらの僅から算出する.歪みの増加に伴って，応力が増加するという非線形性を示した.得られた特性よりウレタン樹脂を用いて人工指先部を試作した.試作した人工指先部の応力ー歪み関係が，ヒト指腹部における力学的特性と同じような特性を有することを示した.また，試作した指先部を用いた義手制御実験を行い，義手操作性への有用性と限界を示した.
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