TY - GEN
T1 - Development of a three-fingered jamming gripper for corresponding to the position error and shape difference
AU - Amano, Kohei
AU - Iwasaki, Yukiko
AU - Nakabayashi, Koki
AU - Iwata, Hiroyasu
N1 - Funding Information:
As an application of this research, a robot arm attached to a wheelchair intended for living support can be considered [14]. In this system, it is a prerequisite that the robot arm and the end effector cannot be operated accurately because this system is intended for people with disabilities in their upper limbs. Therefore, the end effector is required to have fewer degrees of freedom that do not require complicated control and error tolerance to acquire an object, even with a rough instruction. In the future, we will evaluate the mental load, such as attention allocation and ease of use, for operators by integrating an end effector that is capable of absorbing errors with such a SDOF into the robot system. ACKNOWLEDGMENT We thank Maxine Garcia, PhD, from Edanz Group (www.edanzediting.com/ac) for editing a draft of this manuscript. This research was supported by the Inami JIZAI BODY Project, JST ERATO.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - In this research, we consider a small-degree-of-freedom (SDOF) end effector aimed at absorbing position error and object shape difference. The end effector that can grasp various shapes with a SDOF simplifies the control method and thus improves versatility for existing robot systems. However, the conventional SDOF end effector cannot perform precise operation as compared with high degrees of freedom, so it becomes weak against shape difference and position error of the object to be held. Therefore, in this research, we focused on 'drawing function' and 'adapting function' which are effective for error absorption and developed an end effector capable of absorbing errors by integrating them into a SDOF. We evaluated the error absorption performance of the developed integrated end effector and examined the mechanism.
AB - In this research, we consider a small-degree-of-freedom (SDOF) end effector aimed at absorbing position error and object shape difference. The end effector that can grasp various shapes with a SDOF simplifies the control method and thus improves versatility for existing robot systems. However, the conventional SDOF end effector cannot perform precise operation as compared with high degrees of freedom, so it becomes weak against shape difference and position error of the object to be held. Therefore, in this research, we focused on 'drawing function' and 'adapting function' which are effective for error absorption and developed an end effector capable of absorbing errors by integrating them into a SDOF. We evaluated the error absorption performance of the developed integrated end effector and examined the mechanism.
UR - http://www.scopus.com/inward/record.url?scp=85067112408&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85067112408&partnerID=8YFLogxK
U2 - 10.1109/ROBOSOFT.2019.8722768
DO - 10.1109/ROBOSOFT.2019.8722768
M3 - Conference contribution
AN - SCOPUS:85067112408
T3 - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
SP - 137
EP - 142
BT - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Y2 - 14 April 2019 through 18 April 2019
ER -