Development of Anthropomorphic Soft Robotic Hand WSH-1RII

Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingChapter

    2 Citations (Scopus)

    Abstract

    In the future, we will need service robots capable of natural interaction with people, which often involves the use of hands. In this paper, we aim to evaluate the impression of the interaction between a human and a humanoid robot with anthropomorphic hands. In particular, we focus on the influence of the grip of robot’s hands during handshaking. First, we measured pressured places and forces. Based on this result, we selected motors that have enough torque for handshaking. Finally, we developed a new anthropomorphic soft robot hand named WSH-1RII with the soft material structure, enough grip strength, and force sensing. The experimental results confirmed that the hand gives the users a good impression.

    Original languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages175-182
    Number of pages8
    DOIs
    Publication statusPublished - 2013 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume544
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Keywords

    • Emotion Expression
    • Grip Strength
    • Human Hand
    • Humanoid Robot
    • Service Robot

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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  • Cite this

    Endo, N., Kojima, T., Endo, K., Iida, F., Hashimoto, K., & Takanishi, A. (2013). Development of Anthropomorphic Soft Robotic Hand WSH-1RII. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 175-182). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_22