Design and development of five-fingered hands for a humanoid emotion expression robot

Stefano Roccella, Maria Chiara Carroza, Giovanni Cappiello, John John Cabibihan, Cecilia Laschi, Paolo Dario, Hideaki Takanobu, Munemichi Matsumoto, Hiroyasu Miwa, Kazuko Itoh, Atsuo Takanishi

    Research output: Contribution to journalArticle

    26 Citations (Scopus)

    Abstract

    Among social infrastructure technologies, Robot Technology (RT) is expected to play an important role in solving the problems of the aging society. New generations of personal robots are expected to be capable of assisting humans in a variety of contexts and thus of interacting and communicating with them effectively and even in a friendly and natural way. Expressing human-like emotions is an important capability to this aim. The objectives of this work are the design and development of two five-fingered robotic hands for a humanoid upper body able to generate and express emotions. The specific design goals have been grasping and expression of emotions through hand gestures, as a complement to facial expression of emotions. The paper presents the design process of the robotic hands, named RCH-1 (Robocasa Hand No. 1), starting from the requirements deriving from their use in grasping and gestures. The resulting robotic hands are described in detail, together with the hand sensory systems. Experimental trials are then presented, aimed at assessing the hand performance and at validating their effectiveness in grasping and emotion expression, when mounted on the emotion expression humanoid robot WE-4R (Waseda Eye No. 4 Refined).

    Original languageEnglish
    Pages (from-to)181-206
    Number of pages26
    JournalInternational Journal of Humanoid Robotics
    Volume4
    Issue number1
    DOIs
    Publication statusPublished - 2007 Mar

    Fingerprint

    End effectors
    Robots
    Aging of materials

    Keywords

    • Emotion expression
    • Human-robot interaction
    • Humanoid robotics
    • Personal robotics
    • Robotic hand

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Mechanical Engineering

    Cite this

    Design and development of five-fingered hands for a humanoid emotion expression robot. / Roccella, Stefano; Carroza, Maria Chiara; Cappiello, Giovanni; Cabibihan, John John; Laschi, Cecilia; Dario, Paolo; Takanobu, Hideaki; Matsumoto, Munemichi; Miwa, Hiroyasu; Itoh, Kazuko; Takanishi, Atsuo.

    In: International Journal of Humanoid Robotics, Vol. 4, No. 1, 03.2007, p. 181-206.

    Research output: Contribution to journalArticle

    Roccella, S, Carroza, MC, Cappiello, G, Cabibihan, JJ, Laschi, C, Dario, P, Takanobu, H, Matsumoto, M, Miwa, H, Itoh, K & Takanishi, A 2007, 'Design and development of five-fingered hands for a humanoid emotion expression robot', International Journal of Humanoid Robotics, vol. 4, no. 1, pp. 181-206. https://doi.org/10.1142/S0219843607000996
    Roccella, Stefano ; Carroza, Maria Chiara ; Cappiello, Giovanni ; Cabibihan, John John ; Laschi, Cecilia ; Dario, Paolo ; Takanobu, Hideaki ; Matsumoto, Munemichi ; Miwa, Hiroyasu ; Itoh, Kazuko ; Takanishi, Atsuo. / Design and development of five-fingered hands for a humanoid emotion expression robot. In: International Journal of Humanoid Robotics. 2007 ; Vol. 4, No. 1. pp. 181-206.
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