Miniature five-fingered robot hand driven by shape memory alloy actuators

Takashi Maeno, Toshiyuki Hino

研究成果: Conference contribution

46 被引用数 (Scopus)

抄録

Miniature five fingered robot hand is developed for dexterous manipulation of small tissues and parts in medical and industrial fields. The size of the robot hand is about one third of human hands. It has 4 DOF (degrees of freedom) per a finger that is almost the same as humans. The entire DOF of the hand is 20. The hand is driven by SMA (shape memory actuator) wire actuator with diameter of 0.05 mm. The maximum strain of the SMA wire is about 0.04. Time constant of the finger movement is about 0.2s. It means that the frequency response of the developed hand is almost in the same range as human fingers. The developed robot hand can be used in dexterous remote manipulations of small things.

本文言語English
ホスト出版物のタイトルProceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006
ページ174-179
ページ数6
出版ステータスPublished - 2006
イベント12th IASTED International Conference on Robotics and Applications, RA 2006 - Honolulu, HI, United States
継続期間: 2006 8月 142006 8月 16

出版物シリーズ

名前Proceedings of the IASTED International Conference on Robotics and Applications
ISSN(印刷版)1027-264X

Other

Other12th IASTED International Conference on Robotics and Applications, RA 2006
国/地域United States
CityHonolulu, HI
Period06/8/1406/8/16

ASJC Scopus subject areas

  • ソフトウェア
  • 機械工学
  • コンピュータ サイエンスの応用

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