Abstract
This paper describes a robotic hand that attaches to the wrist of a biped humanoid robot capable of mimicking a human motion. The robotic hand has five tendon-driven fingers that consist of a thumb, and an index, a middle, a ring, and a little finger. The fingers are composed of a V-grooved pulley, an E-type retaining ring, a hinge pin, and a torsional spring. The thumb has two motors for rolling and yawing motions and the other fingers have one motor for rolling motions. The effectiveness of the robot hands is confirmed through many grasping experiments.
| Original language | English |
|---|---|
| Title of host publication | 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 914-917 |
| Number of pages | 4 |
| ISBN (Print) | 9781479959556 |
| DOIs | |
| Publication status | Published - 2014 Feb 18 |
| Event | 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan Duration: 2014 Dec 3 → 2014 Dec 6 |
Other
| Other | 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 |
|---|---|
| Country | Japan |
| City | Kitakyushu |
| Period | 14/12/3 → 14/12/6 |
Fingerprint
Keywords
- Human motion
- Humanoid robot
- Pully
- Robotic hand
- Tendon driven
ASJC Scopus subject areas
- Software
- Artificial Intelligence
Cite this
Development of tendon-driven robotic hand for biped humanoid robot. / Kamogawa, Yuki; Takanishi, Atsuo; Kuwahara, Youhei; Lim, Hun Ok.
2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 914-917 7044764.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of tendon-driven robotic hand for biped humanoid robot
AU - Kamogawa, Yuki
AU - Takanishi, Atsuo
AU - Kuwahara, Youhei
AU - Lim, Hun Ok
PY - 2014/2/18
Y1 - 2014/2/18
N2 - This paper describes a robotic hand that attaches to the wrist of a biped humanoid robot capable of mimicking a human motion. The robotic hand has five tendon-driven fingers that consist of a thumb, and an index, a middle, a ring, and a little finger. The fingers are composed of a V-grooved pulley, an E-type retaining ring, a hinge pin, and a torsional spring. The thumb has two motors for rolling and yawing motions and the other fingers have one motor for rolling motions. The effectiveness of the robot hands is confirmed through many grasping experiments.
AB - This paper describes a robotic hand that attaches to the wrist of a biped humanoid robot capable of mimicking a human motion. The robotic hand has five tendon-driven fingers that consist of a thumb, and an index, a middle, a ring, and a little finger. The fingers are composed of a V-grooved pulley, an E-type retaining ring, a hinge pin, and a torsional spring. The thumb has two motors for rolling and yawing motions and the other fingers have one motor for rolling motions. The effectiveness of the robot hands is confirmed through many grasping experiments.
KW - Human motion
KW - Humanoid robot
KW - Pully
KW - Robotic hand
KW - Tendon driven
UR - http://www.scopus.com/inward/record.url?scp=84946531234&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946531234&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2014.7044764
DO - 10.1109/SCIS-ISIS.2014.7044764
M3 - Conference contribution
AN - SCOPUS:84946531234
SN - 9781479959556
SP - 914
EP - 917
BT - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -