Abstract
This paper describes a new driving mechanism for a miniature robot hand. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and minimalizing. The proposed mechanism uses elastic torsion springs and hinges as joints, and the finger is wire-driven from actuators placed outside the robot hand. First, the driving mechanism of a one joint finger is described, and the mechanism is applied to a five-fingered miniature robot hand. The robot hand is one-half the size of the hand of an adult male's, and has a total of eighteen degrees of freedom (DOF). The properties of the robot hand are discussed, and are shown to be an effective mechanism for miniature robot hands.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 2672-2677 |
| Number of pages | 6 |
| Volume | 3 |
| Publication status | Published - 2003 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country | United States |
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
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Keywords
- Elastic hinges
- Feedforward control
- Joint angle control
- Miniature robot hand
- Multi-finger
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints. / Ogahara, Yoichi; Kawato, Yusuke; Takemura, Kenjiro; Maeno, Takashi.
IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2003. p. 2672-2677.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints
AU - Ogahara, Yoichi
AU - Kawato, Yusuke
AU - Takemura, Kenjiro
AU - Maeno, Takashi
PY - 2003
Y1 - 2003
N2 - This paper describes a new driving mechanism for a miniature robot hand. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and minimalizing. The proposed mechanism uses elastic torsion springs and hinges as joints, and the finger is wire-driven from actuators placed outside the robot hand. First, the driving mechanism of a one joint finger is described, and the mechanism is applied to a five-fingered miniature robot hand. The robot hand is one-half the size of the hand of an adult male's, and has a total of eighteen degrees of freedom (DOF). The properties of the robot hand are discussed, and are shown to be an effective mechanism for miniature robot hands.
AB - This paper describes a new driving mechanism for a miniature robot hand. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and minimalizing. The proposed mechanism uses elastic torsion springs and hinges as joints, and the finger is wire-driven from actuators placed outside the robot hand. First, the driving mechanism of a one joint finger is described, and the mechanism is applied to a five-fingered miniature robot hand. The robot hand is one-half the size of the hand of an adult male's, and has a total of eighteen degrees of freedom (DOF). The properties of the robot hand are discussed, and are shown to be an effective mechanism for miniature robot hands.
KW - Elastic hinges
KW - Feedforward control
KW - Joint angle control
KW - Miniature robot hand
KW - Multi-finger
UR - http://www.scopus.com/inward/record.url?scp=0348040268&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0348040268&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0348040268
VL - 3
SP - 2672
EP - 2677
BT - IEEE International Conference on Intelligent Robots and Systems
ER -