Development of tendon-driven robotic hand for biped humanoid robot

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

doi:10.1109/SCIS-ISIS.2014.7044764

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 proceeding › Conference 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 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	https://doi.org/10.1109/SCIS-ISIS.2014.7044764
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

Keywords

Human motion
Humanoid robot
Pully
Robotic hand
Tendon driven

ASJC Scopus subject areas

Software
Artificial Intelligence

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10.1109/SCIS-ISIS.2014.7044764

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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 proceeding › Conference 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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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.",

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