Five-fingered robot hand using ultrasonic motors and elastic elements

Ikuo Yamano, Takashi Maeno

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

84 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 of the 2005 IEEE International Conference on Robotics and Automation
Pages2673-2678
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

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

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

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