A robot hand using electro-conjugate fluid: Imitating a palm motion of human hand using soft balloon actuator

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

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

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. We developed in our previous study a novel five-fingered flexible robot hand using the ECF. In this study, in order to improve the ECF hand we pay our attention to the flexion of palm because human hand can grasp an object with the flexion of palm. First, we propose a concept of five fingered robot hand which has balloon actuators driven by ECF jet to produce the flexion of palm. The actuator is mainly composed of silicone rubber membrane and a rubber base with a slit, so that when the actuator is pressurized the slit is opened, resulting in making the palm of the robot hand actuate. When the actuator is pressurized with 20 kPa the rubber slit is opened with approximately 60 deg. Finally we investigate the characteristics of the actuator and introduce it into the ECF robot hand.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1807-1812
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

Fingerprint

Balloons
End effectors
Actuators
Robots
Fluids
Rubber
Silicones
Needles
Electric fields
Membranes
Electrodes
Electric potential

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Yamaguchi, A., Takemura, K., Yokota, S., & Edamura, K. (2011). A robot hand using electro-conjugate fluid: Imitating a palm motion of human hand using soft balloon actuator. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1807-1812). [6181552] https://doi.org/10.1109/ROBIO.2011.6181552

A robot hand using electro-conjugate fluid : Imitating a palm motion of human hand using soft balloon actuator. / Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1807-1812 6181552.

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

Yamaguchi, A, Takemura, K, Yokota, S & Edamura, K 2011, A robot hand using electro-conjugate fluid: Imitating a palm motion of human hand using soft balloon actuator. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181552, pp. 1807-1812, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181552
Yamaguchi A, Takemura K, Yokota S, Edamura K. A robot hand using electro-conjugate fluid: Imitating a palm motion of human hand using soft balloon actuator. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1807-1812. 6181552 https://doi.org/10.1109/ROBIO.2011.6181552
Yamaguchi, Akihiro ; Takemura, Kenjiro ; Yokota, Shinichi ; Edamura, Kazuya. / A robot hand using electro-conjugate fluid : Imitating a palm motion of human hand using soft balloon actuator. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 1807-1812
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