Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors

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

46 Citations (Scopus)

Abstract

A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addition, all the components are placed inside the hand thanks to the ultrasonic motors with compact size and high torque at low speed. Applying the driving method to multi-DOF mechanism, a robot index finger is designed and implemented. It has equal number of joints and DOF to human index finger, and it is also equal in size to the finger of average adult male. The performance of the robot finger is confirmed by fundamental driving test.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2648-2653
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
Ultrasonics
Robots
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Yamano, I., Takemura, K., & Maeno, T. (2003). Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2648-2653)

Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. / Yamano, Ikuo; Takemura, Kenjiro; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2003. p. 2648-2653.

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

Yamano, I, Takemura, K & Maeno, T 2003, Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 2648-2653, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 03/10/27.
Yamano I, Takemura K, Maeno T. Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2003. p. 2648-2653
Yamano, Ikuo ; Takemura, Kenjiro ; Maeno, Takashi. / Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2003. pp. 2648-2653
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