A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints

Yoichi Ogahara; Yusuke Kawato; Kenjiro Takemura; Takashi Maeno

A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints

Yoichi Ogahara, Yusuke Kawato, Kenjiro Takemura, Takashi Maeno

Graduate School of System Design and Management

Research output: Contribution to conference › Paper › peer-review

5 Citations (Scopus)

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
Pages	2672-2677
Number of pages	6
Publication status	Published - 2003 Dec 26
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

Keywords

Elastic hinges
Feedforward control
Joint angle control
Miniature robot hand
Multi-finger

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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Cite this

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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.",

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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.

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