A Multi-Fingered Robot Hand with Remote Center of Motion Mechanisms for Covering Joints with Soft Skin

Gagan Khullar*, Alexander Schmitz, Chincheng Hsu, Prathamesh Sathe, Satoshi Funabashi, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

Robot hands are crucial for dexterous interaction with objects. The joints of existing robot hands typically cannot be completely covered with skin. This paper demonstrates a robot hand for which the palmar side of the joints, which is the side that is typically in contact with objects, can be nearly completely covered with a continuous, thick skin layer. This is possible with remote center of motion (RCM) mechanisms. Covering the palmar side of the joints with a thick skin layer has potential benefits for grasp stability, safety and allows the inclusion of tactile sensors in the joints in future work. A coupling mechanism is used in combination with the RCM mechanisms for the distal interphalangeal (DIP) and proximal interphalangeal (PIP) joints. Our evaluation shows that the hand can grasp various objects with different postures. The abduction/adduction mechanism, which is implemented in the metacarpophalangeal (MCP) joint in addition to the flexion/extension movement with an RCM joint, is demonstrated. It is further demonstrated that the RCM joints ensure that even thin objects that are grasped at the joints will make contact with soft skin.

本文言語English
ホスト出版物のタイトル2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ564-570
ページ数7
ISBN(電子版)9781665405355
DOI
出版ステータスPublished - 2021
イベント2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Sanya, China
継続期間: 2021 12月 272021 12月 31

出版物シリーズ

名前2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
国/地域China
CitySanya
Period21/12/2721/12/31

ASJC Scopus subject areas

  • 人工知能
  • 機械工学
  • 制御と最適化

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