1A1-A01 手指手掌に受動柔軟性を備えた高巧緻多指ハンドの構造設計(ロボットハンドの機構と把持戦略)

岩田 浩康; 林 隆志; 塩澤 裕樹; 木村 謙大; 石井 聡; 坂神 啓介; 太田 智道; 岩本 国大; 菅野 重樹

doi:10.1299/jsmermd.2008._1A1-A01_1

2008

Session ID : 1A1-A01

DOI https://doi.org/10.1299/jsmermd.2008._1A1-A01_1

Conference information

1A1-A01 Mechanism Design of Human Mimetic Robotic Hands with Passivity in Skins and Joints

Hiroyasu IWATA, Takashi HAYASHI, Yuki SHIOZAWA, Kenta KIMURA, Satoshi ISHI, Keisuke SAKAGAMI, Tomomichi OHTA, Kunihiro IWAMOTO, Shigeki SUGANO

Author information

Hiroyasu IWATA
Humanoid Robotics Institute, Waseda University:Waseda Institute for Advanced Study, Waseda University(WIAS)
Takashi HAYASHI
Humanoid Robotics Institute, Waseda University
Yuki SHIOZAWA
Humanoid Robotics Institute, Waseda University
Kenta KIMURA
Humanoid Robotics Institute, Waseda University
Satoshi ISHI
Humanoid Robotics Institute, Waseda University
Keisuke SAKAGAMI
Humanoid Robotics Institute, Waseda University
Tomomichi OHTA
Humanoid Robotics Institute, Waseda University
Kunihiro IWAMOTO
Humanoid Robotics Institute, Waseda University
Shigeki SUGANO
Humanoid Robotics Institute, Waseda University

Keywords: Anthropomorphic Robotic Hand, Passive Joint Mechanism, Finger Skin Softness, Bulge-able Thumb Root

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

Installation of passivity on the skin and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of handling and manipulation. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented.

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