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

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

    33 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: SI International 2008 - The 2nd Symposium on System Integration
    Pages129-134
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2nd International Symposium on System Integration, SII 2009 - Tokyo
    Duration: 2009 Nov 292009 Nov 29

    Other

    Other2nd International Symposium on System Integration, SII 2009
    CityTokyo
    Period09/11/2909/11/29

    Fingerprint

    End effectors
    Skin
    Robots
    Kitchens
    Sensors
    Experiments

    Keywords

    • Dexterity
    • Hand
    • Human symbiotic robot
    • Passivity

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computational Theory and Mathematics

    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] https://doi.org/10.1109/SI.2009.5384542

    Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins. / Iwata, Hiroyasu; Sugano, Shigeki.

    2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration. 2009. p. 129-134 5384542.

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

    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., 5384542, pp. 129-134, 2nd International Symposium on System Integration, SII 2009, Tokyo, 09/11/29. https://doi.org/10.1109/SI.2009.5384542
    Iwata H, Sugano S. 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. 2009. p. 129-134. 5384542 https://doi.org/10.1109/SI.2009.5384542
    Iwata, Hiroyasu ; Sugano, Shigeki. / Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins. 2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration. 2009. pp. 129-134
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