A Wire-Driven Miniature Five Fingered Robot Hand using Elastic Elements as Joints

Yoichi Ogahara, Yusuke Kawato, Kenjiro Takemura, Takashi Maeno

研究成果: Paper査読

5 被引用数 (Scopus)

抄録

This paper describes a new driving mechanism for a miniature robot hand. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and minimalizing. The proposed mechanism uses elastic torsion springs and hinges as joints, and the finger is wire-driven from actuators placed outside the robot hand. First, the driving mechanism of a one joint finger is described, and the mechanism is applied to a five-fingered miniature robot hand. The robot hand is one-half the size of the hand of an adult male's, and has a total of eighteen degrees of freedom (DOF). The properties of the robot hand are discussed, and are shown to be an effective mechanism for miniature robot hands.

本文言語English
ページ2672-2677
ページ数6
出版ステータスPublished - 2003 12 26
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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