Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors

研究成果: Conference contribution

46 引用 (Scopus)

抄録

A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addition, all the components are placed inside the hand thanks to the ultrasonic motors with compact size and high torque at low speed. Applying the driving method to multi-DOF mechanism, a robot index finger is designed and implemented. It has equal number of joints and DOF to human index finger, and it is also equal in size to the finger of average adult male. The performance of the robot finger is confirmed by fundamental driving test.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ2648-2653
ページ数6
3
出版物ステータスPublished - 2003
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
United States
Las Vegas, NV
期間03/10/2703/10/31

Fingerprint

End effectors
Ultrasonics
Robots
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Yamano, I., Takemura, K., & Maeno, T. (2003). Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. : IEEE International Conference on Intelligent Robots and Systems (巻 3, pp. 2648-2653)

Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. / Yamano, Ikuo; Takemura, Kenjiro; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. 巻 3 2003. p. 2648-2653.

研究成果: Conference contribution

Yamano, I, Takemura, K & Maeno, T 2003, Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. : IEEE International Conference on Intelligent Robots and Systems. 巻. 3, pp. 2648-2653, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 03/10/27.
Yamano I, Takemura K, Maeno T. Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. : IEEE International Conference on Intelligent Robots and Systems. 巻 3. 2003. p. 2648-2653
Yamano, Ikuo ; Takemura, Kenjiro ; Maeno, Takashi. / Development of a Robot Finger for Five-Fingered Hand using Ultrasonic Motors. IEEE International Conference on Intelligent Robots and Systems. 巻 3 2003. pp. 2648-2653
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