A Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger

Kosuke Egawa, Seiichiro Katsura

研究成果: Conference contribution

抄録

Anthropomorphic robot hands are required not only to have dexterity related to gripping and in-hand manipulation, but also to have dexterity to perform movements required in daily activities such as pressing the pad of a finger and flipping a finger. Many of the conventional robot hands that focus on these movements are limited to the realization of the movement of pressing the pad of the finger, and few focus on the movement of flipping the finger. Therefore, in this paper, we propose a hand design method that can perform both the action of pressing the pad of the finger and the action of flipping the finger. The design method proposed in this paper is to increase the stiffness of the tendon for extension rather than that of the tendon for flexion. In order to verify the effectiveness of proposed method, we compared the flight distance of coins when flipping coins with a conventional hand that can press the pad of a finger and the robot hand designed by proposed method.

本文言語English
ホスト出版物のタイトルProceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728190235
DOI
出版ステータスPublished - 2021 6月 20
イベント30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan
継続期間: 2021 6月 202021 6月 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
2021-June

Conference

Conference30th IEEE International Symposium on Industrial Electronics, ISIE 2021
国/地域Japan
CityKyoto
Period21/6/2021/6/23

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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