TY - GEN
T1 - Design and development of a new robot joint using a mechanical impedance adjuster
AU - Morita, Toshio
AU - Sugano, Shigeki
PY - 1995/1/1
Y1 - 1995/1/1
N2 - The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers which consists of the new mechanism, which can grasp objects softly. This paper presents a new joint mechanism named 'Mechanical Impedance Adjuster', and an impedance control method of robot finger joint by this mechanism. The effect of this method is shown by the experiment of the 1-D.O.F. finger model.
AB - The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers which consists of the new mechanism, which can grasp objects softly. This paper presents a new joint mechanism named 'Mechanical Impedance Adjuster', and an impedance control method of robot finger joint by this mechanism. The effect of this method is shown by the experiment of the 1-D.O.F. finger model.
UR - http://www.scopus.com/inward/record.url?scp=0029178163&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029178163&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1995.525630
DO - 10.1109/ROBOT.1995.525630
M3 - Conference contribution
AN - SCOPUS:0029178163
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2469
EP - 2475
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -