Five-fingered robot hand using ultrasonic motors and elastic elements

Ikuo Yamano, Takashi Maeno

研究成果: Conference contribution

78 引用 (Scopus)

抄録

A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.

元の言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2673-2678
ページ数6
2005
DOI
出版物ステータスPublished - 2005
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

Other

Other2005 IEEE International Conference on Robotics and Automation
Spain
Barcelona
期間05/4/1805/4/22

Fingerprint

End effectors
Ultrasonics
Robots
Torque
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

これを引用

Yamano, I., & Maeno, T. (2005). Five-fingered robot hand using ultrasonic motors and elastic elements. : Proceedings - IEEE International Conference on Robotics and Automation (巻 2005, pp. 2673-2678). [1570517] https://doi.org/10.1109/ROBOT.2005.1570517

Five-fingered robot hand using ultrasonic motors and elastic elements. / Yamano, Ikuo; Maeno, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005 2005. p. 2673-2678 1570517.

研究成果: Conference contribution

Yamano, I & Maeno, T 2005, Five-fingered robot hand using ultrasonic motors and elastic elements. : Proceedings - IEEE International Conference on Robotics and Automation. 巻. 2005, 1570517, pp. 2673-2678, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570517
Yamano I, Maeno T. Five-fingered robot hand using ultrasonic motors and elastic elements. : Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005. 2005. p. 2673-2678. 1570517 https://doi.org/10.1109/ROBOT.2005.1570517
Yamano, Ikuo ; Maeno, Takashi. / Five-fingered robot hand using ultrasonic motors and elastic elements. Proceedings - IEEE International Conference on Robotics and Automation. 巻 2005 2005. pp. 2673-2678
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