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月 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月 27 → 2003 10月 31 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| 国/地域 | United States |
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
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