A Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger

Kosuke Egawa, Seiichiro Katsura

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

Abstract

Anthropomorphic robot hands are required not only to have dexterity related to gripping and in-hand manipulation, but also to have dexterity to perform movements required in daily activities such as pressing the pad of a finger and flipping a finger. Many of the conventional robot hands that focus on these movements are limited to the realization of the movement of pressing the pad of the finger, and few focus on the movement of flipping the finger. Therefore, in this paper, we propose a hand design method that can perform both the action of pressing the pad of the finger and the action of flipping the finger. The design method proposed in this paper is to increase the stiffness of the tendon for extension rather than that of the tendon for flexion. In order to verify the effectiveness of proposed method, we compared the flight distance of coins when flipping coins with a conventional hand that can press the pad of a finger and the robot hand designed by proposed method.

Original languageEnglish
Title of host publicationProceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728190235
DOIs
Publication statusPublished - 2021 Jun 20
Event30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan
Duration: 2021 Jun 202021 Jun 23

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume2021-June

Conference

Conference30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Country/TerritoryJapan
CityKyoto
Period21/6/2021/6/23

Keywords

  • Robot finger
  • Tendon-driven mechanism
  • Undr-eractuatedness

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Fingerprint

Dive into the research topics of 'A Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger'. Together they form a unique fingerprint.

Cite this