Development of tendon-driven robotic hand for biped humanoid robot

Yuki Kamogawa, Atsuo Takanishi, Youhei Kuwahara, Hun Ok Lim

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

    1 Citation (Scopus)

    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 languageEnglish
    Title of host publication2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages914-917
    Number of pages4
    ISBN (Print)9781479959556
    DOIs
    Publication statusPublished - 2014 Feb 18
    Event2014 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 32014 Dec 6

    Other

    Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
    CountryJapan
    CityKitakyushu
    Period14/12/314/12/6

    Fingerprint

    Tendons
    End effectors
    Robots
    Pulleys
    Hinges
    Experiments

    Keywords

    • Human motion
    • Humanoid robot
    • Pully
    • Robotic hand
    • Tendon driven

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence

    Cite this

    Kamogawa, Y., Takanishi, A., Kuwahara, Y., & Lim, H. O. (2014). Development of tendon-driven robotic hand for biped humanoid robot. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 914-917). [7044764] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044764

    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 proceedingConference contribution

    Kamogawa, Y, Takanishi, A, Kuwahara, Y & Lim, HO 2014, Development of tendon-driven robotic hand for biped humanoid robot. in 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014., 7044764, Institute of Electrical and Electronics Engineers Inc., pp. 914-917, 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, 14/12/3. https://doi.org/10.1109/SCIS-ISIS.2014.7044764
    Kamogawa Y, Takanishi A, Kuwahara Y, Lim HO. Development of tendon-driven robotic hand for biped humanoid robot. In 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 https://doi.org/10.1109/SCIS-ISIS.2014.7044764
    Kamogawa, Yuki ; Takanishi, Atsuo ; Kuwahara, Youhei ; Lim, Hun Ok. / Development of tendon-driven robotic hand for biped humanoid robot. 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. pp. 914-917
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