Development of robot finger using ultrasonic motors driven by superimposed signal input

Shosho Oh, Kenjiro Takemura

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

8 Citations (Scopus)

Abstract

When developing a multi-fingered robot hand driven by ultrasonic motors (USM), complicated wiring may become one of the essential problems. This study introduces a novel driving method for multiple USMs using superimposed signal input to overcome this problem. First, we designed a robot finger driven by built-in USMs. The robot finger has four joints with three-degree-of-freedom, i.e., DIP joint is dependent to PIP joint. Second, we developed USMs which are suitable for the robot finger actuation. Finally, we developed and characterized the robot finger with the superimposed signal input.

Original languageEnglish
Title of host publicationIEEE International Ultrasonics Symposium, IUS
PublisherIEEE Computer Society
Pages2490-2493
Number of pages4
ISBN (Electronic)9781479970490
DOIs
Publication statusPublished - 2014 Oct 20
Event2014 IEEE International Ultrasonics Symposium, IUS 2014 - Chicago, United States
Duration: 2014 Sep 32014 Sep 6

Publication series

NameIEEE International Ultrasonics Symposium, IUS
ISSN (Print)1948-5719
ISSN (Electronic)1948-5727

Other

Other2014 IEEE International Ultrasonics Symposium, IUS 2014
CountryUnited States
CityChicago
Period14/9/314/9/6

Keywords

  • Robot finger
  • Superimposed signal input
  • Ultrasonic motor

ASJC Scopus subject areas

  • Acoustics and Ultrasonics

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  • Cite this

    Oh, S., & Takemura, K. (2014). Development of robot finger using ultrasonic motors driven by superimposed signal input. In IEEE International Ultrasonics Symposium, IUS (pp. 2490-2493). [6931907] (IEEE International Ultrasonics Symposium, IUS). IEEE Computer Society. https://doi.org/10.1109/ULTSYM.2014.0621