Five-fingered robot hand using ultrasonic motors and elastic elements

Ikuo Yamano, Takashi Maeno

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

78 Citations (Scopus)

Abstract

A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2673-2678
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Fingerprint

End effectors
Ultrasonics
Robots
Torque
Experiments

Keywords

  • Robot hand
  • Tele-operation
  • Ultrasonic motor
  • Wire-driven mechanism

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Yamano, I., & Maeno, T. (2005). Five-fingered robot hand using ultrasonic motors and elastic elements. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 2673-2678). [1570517] https://doi.org/10.1109/ROBOT.2005.1570517

Five-fingered robot hand using ultrasonic motors and elastic elements. / Yamano, Ikuo; Maeno, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2673-2678 1570517.

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

Yamano, I & Maeno, T 2005, Five-fingered robot hand using ultrasonic motors and elastic elements. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570517, pp. 2673-2678, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570517
Yamano I, Maeno T. Five-fingered robot hand using ultrasonic motors and elastic elements. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 2673-2678. 1570517 https://doi.org/10.1109/ROBOT.2005.1570517
Yamano, Ikuo ; Maeno, Takashi. / Five-fingered robot hand using ultrasonic motors and elastic elements. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 2673-2678
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