Development of Anthropomorphic Soft Robotic Hand WSH-1RII

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

doi:10.1007/978-3-7091-1379-0_22

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 proceeding › Chapter

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 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	https://doi.org/10.1007/978-3-7091-1379-0_22
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

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

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

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. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 544, Springer International Publishing, pp. 175-182. https://doi.org/10.1007/978-3-7091-1379-0_22

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Access to Document

10.1007/978-3-7091-1379-0_22