TY - GEN
T1 - Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2009/12/1
Y1 - 2009/12/1
N2 - Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist.
AB - Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist.
KW - Dexterity
KW - Hand
KW - Human symbiotic robot
KW - Passivity
UR - http://www.scopus.com/inward/record.url?scp=77952370976&partnerID=8YFLogxK
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U2 - 10.1109/SI.2009.5384542
DO - 10.1109/SI.2009.5384542
M3 - Conference contribution
AN - SCOPUS:77952370976
SN - 9781424459070
T3 - 2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration
SP - 129
EP - 134
BT - 2009 IEEE/SICE International Symposium on System Integration
T2 - 2nd International Symposium on System Integration, SII 2009
Y2 - 29 November 2009 through 29 November 2009
ER -