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

Yoichi Ogahara, Yusuke Kawato, Kenjiro Takemura, Takashi Maeno

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

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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2672-2677
Number of pages6
Volume3
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

Fingerprint

End effectors
Wire
Robots
Hinges
Torsional stress
Actuators

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ogahara, Y., Kawato, Y., Takemura, K., & Maeno, T. (2003). A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2672-2677)

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 proceedingConference contribution

Ogahara, Y, Kawato, Y, Takemura, K & Maeno, T 2003, A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 2672-2677, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 03/10/27.
Ogahara Y, Kawato Y, Takemura K, Maeno T. A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2003. p. 2672-2677
Ogahara, Yoichi ; Kawato, Yusuke ; Takemura, Kenjiro ; Maeno, Takashi. / A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2003. pp. 2672-2677
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