Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1

S. Roccella, M. C. Carrozza, G. Cappiello, P. Dario, J. J. Cabibihan, M. Zecca, H. Miwa, K. Itoh, M. Matsumoto, A. Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

55 Citations (Scopus)

Abstract

Among social infrastructure technologies, Robot technology (RT) is expected to play an important role in solving the problems of both decrease of birth rate and increase of elderly people in the 21st century, specially but not only in Japan. In order to achieve this objective, the new generation of personal robots should be capable of a natural communication with humans by expressing human-like emotion. In this sense, human hands play a fundamental role in communication, because they have grasping, sensing and emotional expression ability. This paper presents the recent results of the collaboration between the Takanishi Lab of Waseda University, Tokyo, Japan, and the Arts Lab of Scuola Superiore Sant'Anna, Pisa, Italy, and ROBOCASA. In this paper, the development of a novel anthropomorphic hand for humanoid robotics RCH-1 (ROBOCASA Hand No.1) and its integration into a humanoid robotic platform, named WE-4RII (Waseda Eye No.4 Refined II) is presented.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages266-271
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume1

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

Keywords

  • Artificial hand
  • Human-robot communication
  • Humanoid robotics
  • Personal robotics

ASJC Scopus subject areas

  • Engineering(all)

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    Roccella, S., Carrozza, M. C., Cappiello, G., Dario, P., Cabibihan, J. J., Zecca, M., Miwa, H., Itoh, K., Matsumoto, M., & Takanishi, A. (2004). Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 266-271). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 1).