Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins

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

35 Citations (Scopus)

Abstract

Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. 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. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist.

Original languageEnglish
Title of host publication2009 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2008 - The 2nd Symposium on System Integration
Pages129-134
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2nd International Symposium on System Integration, SII 2009 - Tokyo, Japan
Duration: 2009 Nov 292009 Nov 29

Publication series

Name2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration

Conference

Conference2nd International Symposium on System Integration, SII 2009
CountryJapan
CityTokyo
Period09/11/2909/11/29

Keywords

  • Dexterity
  • Hand
  • Human symbiotic robot
  • Passivity

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics

Fingerprint Dive into the research topics of 'Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins'. Together they form a unique fingerprint.

  • Cite this

    Iwata, H., & Sugano, S. (2009). Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins. In 2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration (pp. 129-134). [5384542] (2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration). https://doi.org/10.1109/SI.2009.5384542