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 language | English |
|---|---|
| Title of host publication | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Publisher | Springer International Publishing |
| Pages | 175-182 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - 2013 Jan 1 |
Publication series
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Volume | 544 |
| ISSN (Print) | 0254-1971 |
| ISSN (Electronic) | 2309-3706 |
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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
Cite this
Development of Anthropomorphic Soft Robotic Hand WSH-1RII. / Endo, Nobutsuna; Kojima, Takuya; Endo, Keita; Iida, Fumiya; Hashimoto, Kenji; Takanishi, Atsuo.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. p. 175-182 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Development of Anthropomorphic Soft Robotic Hand WSH-1RII
AU - Endo, Nobutsuna
AU - Kojima, Takuya
AU - Endo, Keita
AU - Iida, Fumiya
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
PY - 2013/1/1
Y1 - 2013/1/1
N2 - 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.
AB - 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.
KW - Emotion Expression
KW - Grip Strength
KW - Human Hand
KW - Humanoid Robot
KW - Service Robot
UR - http://www.scopus.com/inward/record.url?scp=84938094941&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938094941&partnerID=8YFLogxK
U2 - 10.1007/978-3-7091-1379-0_22
DO - 10.1007/978-3-7091-1379-0_22
M3 - Chapter
AN - SCOPUS:84938094941
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 175
EP - 182
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -