Development of Anthropomorphic Soft Robotic Hand WSH-1RII

Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)


In the future, we will need service robots capable of natural interaction with people, which often involves the use of hands. In this paper, we aim to evaluate the impression of the interaction between a human and a humanoid robot with anthropomorphic hands. In particular, we focus on the influence of the grip of robot’s hands during handshaking. First, we measured pressured places and forces. Based on this result, we selected motors that have enough torque for handshaking. Finally, we developed a new anthropomorphic soft robot hand named WSH-1RII with the soft material structure, enough grip strength, and force sensing. The experimental results confirmed that the hand gives the users a good impression.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Number of pages8
Publication statusPublished - 2013

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


  • Emotion Expression
  • Grip Strength
  • Human Hand
  • Humanoid Robot
  • Service Robot

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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