Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
This paper deals with development of a left hand finger for our violin-playing robot with two anthropomorphic arms. Our previous left hand uses RC servomotors, which leads large mass and prevents the left arm from its vibrato motion. Therefore the left hand should be lightweight as much as possible and we adopt wire-driven mechanism for our new fingers to place actuators to the outside of the robot. We manufactured a finger with two joints: MP and PIP. It is necessary to be able to play the violin. We confirmed that the developed finger has enough moving ranges. Also we conducted an experiment and confirmed that it produces enough force needed to push the strings.
