Miniature five-fingered robot hand driven by shape memory alloy actuators

Takashi Maeno; Toshiyuki Hino

Miniature five-fingered robot hand driven by shape memory alloy actuators

Takashi Maeno, Toshiyuki Hino

Graduate School of System Design and Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

47 Citations (Scopus)

Abstract

Miniature five fingered robot hand is developed for dexterous manipulation of small tissues and parts in medical and industrial fields. The size of the robot hand is about one third of human hands. It has 4 DOF (degrees of freedom) per a finger that is almost the same as humans. The entire DOF of the hand is 20. The hand is driven by SMA (shape memory actuator) wire actuator with diameter of 0.05 mm. The maximum strain of the SMA wire is about 0.04. Time constant of the finger movement is about 0.2s. It means that the frequency response of the developed hand is almost in the same range as human fingers. The developed robot hand can be used in dexterous remote manipulations of small things.

Original language	English
Title of host publication	Proceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006
Pages	174-179
Number of pages	6
Publication status	Published - 2006
Event	12th IASTED International Conference on Robotics and Applications, RA 2006 - Honolulu, HI, United States Duration: 2006 Aug 14 → 2006 Aug 16

Publication series

Name	Proceedings of the IASTED International Conference on Robotics and Applications
ISSN (Print)	1027-264X

Other

Other	12th IASTED International Conference on Robotics and Applications, RA 2006
Country/Territory	United States
City	Honolulu, HI
Period	06/8/14 → 06/8/16

Keywords

Dexterous manipulation
Miniature robot hand
Shape memorizing alloy actuators

ASJC Scopus subject areas

Software
Mechanical Engineering
Computer Science Applications

Cite this

Miniature five-fingered robot hand driven by shape memory alloy actuators. / Maeno, Takashi; Hino, Toshiyuki.

Proceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006. 2006. p. 174-179 (Proceedings of the IASTED International Conference on Robotics and Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Maeno, T & Hino, T 2006, Miniature five-fingered robot hand driven by shape memory alloy actuators. in Proceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006. Proceedings of the IASTED International Conference on Robotics and Applications, pp. 174-179, 12th IASTED International Conference on Robotics and Applications, RA 2006, Honolulu, HI, United States, 06/8/14.

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AB - Miniature five fingered robot hand is developed for dexterous manipulation of small tissues and parts in medical and industrial fields. The size of the robot hand is about one third of human hands. It has 4 DOF (degrees of freedom) per a finger that is almost the same as humans. The entire DOF of the hand is 20. The hand is driven by SMA (shape memory actuator) wire actuator with diameter of 0.05 mm. The maximum strain of the SMA wire is about 0.04. Time constant of the finger movement is about 0.2s. It means that the frequency response of the developed hand is almost in the same range as human fingers. The developed robot hand can be used in dexterous remote manipulations of small things.

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Miniature five-fingered robot hand driven by shape memory alloy actuators

Abstract

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Keywords

ASJC Scopus subject areas

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