TY - GEN
T1 - A study on fingertip designs and their influences on performing stable prehension for robot hands
AU - Or, Keung
AU - Morikuni, Shu
AU - Ogasa, Shun
AU - Funabashi, Satoshi
AU - Schmitz, Alexander
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/30
Y1 - 2016/12/30
N2 - This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are considered: hardness, thickness of the skin, shape and the surface friction condition of the fingertip. Six fingertips were made in order to compare these factors and their influences on grasp stability under different conditions (high and low workload). An evaluation experiment was conducted in order to investigate how the proposed properties affect the grasping performance under different workloads. Results show an unexpected effectiveness of the soft skin grasping performance compared to less deformable materials, even with reduced friction; also the orientation of the fingertips significantly affects the grasping performance in the case of anthropomorphic fingertips. These results can be useful for designing a new robot hand and a control strategy, which can potentially lead to a better stability and efficient performance.
AB - This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are considered: hardness, thickness of the skin, shape and the surface friction condition of the fingertip. Six fingertips were made in order to compare these factors and their influences on grasp stability under different conditions (high and low workload). An evaluation experiment was conducted in order to investigate how the proposed properties affect the grasping performance under different workloads. Results show an unexpected effectiveness of the soft skin grasping performance compared to less deformable materials, even with reduced friction; also the orientation of the fingertips significantly affects the grasping performance in the case of anthropomorphic fingertips. These results can be useful for designing a new robot hand and a control strategy, which can potentially lead to a better stability and efficient performance.
UR - http://www.scopus.com/inward/record.url?scp=85010212061&partnerID=8YFLogxK
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U2 - 10.1109/HUMANOIDS.2016.7803361
DO - 10.1109/HUMANOIDS.2016.7803361
M3 - Conference contribution
AN - SCOPUS:85010212061
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 772
EP - 777
BT - Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PB - IEEE Computer Society
T2 - 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
Y2 - 15 November 2016 through 17 November 2016
ER -