A study on fingertip designs and their influences on performing stable prehension for robot hands

Keung Or, Shu Morikuni, Shun Ogasa, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are considered: hardness, thickness of the skin, shape and the surface friction condition of the fingertip. Six fingertips were made in order to compare these factors and their influences on grasp stability under different conditions (high and low workload). An evaluation experiment was conducted in order to investigate how the proposed properties affect the grasping performance under different workloads. Results show an unexpected effectiveness of the soft skin grasping performance compared to less deformable materials, even with reduced friction; also the orientation of the fingertips significantly affects the grasping performance in the case of anthropomorphic fingertips. These results can be useful for designing a new robot hand and a control strategy, which can potentially lead to a better stability and efficient performance.

本文言語English
ホスト出版物のタイトルHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
出版社IEEE Computer Society
ページ772-777
ページ数6
ISBN(電子版)9781509047185
DOI
出版ステータスPublished - 2016 12 30
イベント16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
継続期間: 2016 11 152016 11 17

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
国/地域Mexico
CityCancun
Period16/11/1516/11/17

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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