Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans

Yasuhisa Kamikawa, Takashi Maeno

研究成果: Conference contribution

88 被引用数 (Scopus)

抄録

Simple grippers with one or two degrees of freedom are commercially available prosthetic hands; these pinch type devices cannot grasp small cylinders and spheres because of their small degree of freedom. This paper presents the design and prototyping of underactuated five-finger prosthetic hand for grasping various objects in daily life. Underactuated mechanism enables the prosthetic hand to move fifteen compliant joints only by one ultrasonic motor. The innovative design of this prosthetic hand is the underactuated mechanism optimized to distribute grasping force like those of humans who can grasp various objects robustly. Thanks to human like force distribution, the prototype of prosthetic hand could grasp various objects in daily life and heavy objects with the maximum ejection force of 50 N that is greater than other underactuated prosthetic hands.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ717-722
ページ数6
DOI
出版ステータスPublished - 2008
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域France
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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