A robot hand using electro-conjugate fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrodes. This study introduces the ECF jet to develop a novel flexible robot hand. First, we characterize the ECF jet generator which could be a micro fluid pressure source of the robot hand, and confirm the effect of the variation of electrode parameters and the number of electrode pairs on its performance. Next, we investigate the characteristics of the robot finger which mainly consists of the ECF jet generator, a flexible rubber finger and an ECF tank. The robot finger is integrated with the pressure source (ECF jet generator) and the tank, and is successfully driven. Finally we developed a five-fingered flexible robot hand and demonstrate that the robot hand can grasp some objects with various shapes without any complex controller. The height, the width and the mass of the robot hand are approximately 60 mm, 40 mm and 15 g, respectively.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ5923-5928
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5月 92011 5月 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域China
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「A robot hand using electro-conjugate fluid」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル