ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-E09
会議情報
2A1-E09 弾性関節を持つ腱駆動ロボットハンドの開発(ロボットハンドの機構と把握戦略)
小澤 隆太兼松 啓介走井 一徳
著者情報
会議録・要旨集 フリー

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抄録
In this paper we develop a tendon-driven robotic hand. This hand is composed of a three DOF thumb robot and a four DOF forefinger robot. The thumb robot is controlled with four tendons. The forefinger robot is controlled with four active and two passive tendons, which are useful to realize biomechanical features of human forefinger. The DIP and PIP joints of the forefinger robot are realized interlocked motion in non-contact tasks, and move independently in contact tasks. This paper shows the basic kinematics of the proposed tendon-driven mechanisms and designs prototype models.
著者関連情報
© 2007 一般社団法人 日本機械学会
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