A robot hand using electro-conjugate fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

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

9 Citations (Scopus)

Abstract

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrodes. This study introduces the ECF jet to develop a novel flexible robot hand. First, we characterize the ECF jet generator which could be a micro fluid pressure source of the robot hand, and confirm the effect of the variation of electrode parameters and the number of electrode pairs on its performance. Next, we investigate the characteristics of the robot finger which mainly consists of the ECF jet generator, a flexible rubber finger and an ECF tank. The robot finger is integrated with the pressure source (ECF jet generator) and the tank, and is successfully driven. Finally we developed a five-fingered flexible robot hand and demonstrate that the robot hand can grasp some objects with various shapes without any complex controller. The height, the width and the mass of the robot hand are approximately 60 mm, 40 mm and 15 g, respectively.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5923-5928
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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