A design of back-drivable tendon-driven mechanism on robotic finger

Kosuke Egawa, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

To adapt the robot to the human environment, it is necessary to implement the robot's dexterity and force control. To achieve each of these functions, there are studies on tendon-driven hands that generate extension torque with springs and studies on wideband sensing using a disturbance observer (DOB), but few studies integrate them. In this paper, in order to their integration, we proposed a robotic finger whose tendon routing is improved from FLLEX that is considered to be the most effective for wideband sensing using DOB among the existing tendon-driven hands that generate extension torque with a spring. In order to confirm the effectiveness of the proposed robot finger, we conducted an experiment to evaluate the force transmission performance for the finger that reproduced the tendon routing of FLLEX and the proposed robot finger, and compared the results obtained in each experiment.

本文言語English
ホスト出版物のタイトル2021 IEEE International Conference on Mechatronics, ICM 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728144429
DOI
出版ステータスPublished - 2021 3 7
イベント2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan
継続期間: 2021 3 72021 3 9

出版物シリーズ

名前2021 IEEE International Conference on Mechatronics, ICM 2021

Conference

Conference2021 IEEE International Conference on Mechatronics, ICM 2021
国/地域Japan
CityKashiwa
Period21/3/721/3/9

ASJC Scopus subject areas

  • 人工知能
  • 機械工学
  • 制御と最適化

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