Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins

Hiroyasu Iwata*, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

38 被引用数 (Scopus)

抄録

Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist.

本文言語English
ホスト出版物のタイトル2009 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2008 - The 2nd Symposium on System Integration
ページ129-134
ページ数6
DOI
出版ステータスPublished - 2009 12月 1
イベント2nd International Symposium on System Integration, SII 2009 - Tokyo, Japan
継続期間: 2009 11月 292009 11月 29

出版物シリーズ

名前2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration

Conference

Conference2nd International Symposium on System Integration, SII 2009
国/地域Japan
CityTokyo
Period09/11/2909/11/29

ASJC Scopus subject areas

  • 人工知能
  • 計算理論と計算数学

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