Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin

Chincheng Hsu, Alexander Schmitz, Kosuke Kusayanagi, Shigeki Sugano

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

Abstract

An end-effector such as a gripper or multi-fingered hand is essential to enable robots to grasp and manipulate objects of various size and shape. Soft skin increases the grasp stability and can provide space for tactile sensors. However, covering the joints with skin is challenging, typically causing a considerable surface area of multi-segment robot fingers not to be covered by skin. This also creates the risk that objects get pinched in the joints when flexing the fingers. The current paper suggests using a remote center motion (RCM) mechanism to move the center of joint rotation to the surface of a thick skin layer. In particular, a 6-bar mechanism is used. Thereby, a thick soft skin layer with a continuous surface can be realized. Furthermore, adaptive joint coupling with linkages is implemented. In the current paper a 2-fingered gripper is realized, and objects of various size and shape are grasped (from thin paper to objects of 135 mm diameter). The current gripper was manufactured with 3D-printed material to enable rapid prototyping, therefore the payload was limited to only 1 kg for this version. Overall, this paper shows the feasibility of an RCM for a robot finger and discusses the benefits and limitations of such a mechanism.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3172-3178
Number of pages7
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Hsu, C., Schmitz, A., Kusayanagi, K., & Sugano, S. (2019). Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 3172-3178). [8968235] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968235