An under-actuated robotic hand for multiple grasps

被引：0

作者：

Mitsui, Kazuki ^{[1
]}

Ozawa, Ryuta ^{[1
]}

Kou, Toshiyuki ^{[2
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga 5258577, Japan

[2] Toyota Body Co Ltd, Kariya, Aichi, Japan

来源：

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2013年

关键词：

DESIGN;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an under-actuated robotic hand is designed for realizing several different grasps. Three special transmissions are developed to realize the compact joint connected motion, connected motion among fingers and adduction/abduction. These transmissions reduce the volume and weight of the hand while maintain functions necessary for realizing desired grasps. The developed robotic hand can choose three different opposed positions of the thumb to realize four different grasps. Experiments are conducted to confirm that the robotic hand moves fast and stably grasp objects.

引用

页码：5475 / 5480

页数：6

共 22 条

[1] Dynamics and control of a set of dual fingers with soft tips [J].

Arimoto, S ;

Nguyen, PTA ;

Han, HY ;

Doulgeri, Z .

ROBOTICA, 2000, 18 (01) :71-80

[2]

AUKES D, 2012, P IEEE INT C ROB AUT, P2824

[3]

Belter J.T., 2011, Proc IEEE Intl Conf Rehab Robotics, P1

[4]

Birglen L., 2008, Springer Tracts in Advanced Robotics, V40, DOI DOI 10.1007/978-3-540-77459-4

[5]

Brown CY, 2007, 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, P2883

[6] Optimized design of the underactuated robotic hand [J].

Cabas, Ramiro ;

Cabas, Luis Maria ;

Balaguer, Carlos .

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :982-987

[7] Design of a cybernetic hand for perception and action [J].

Carrozza, M. C. ;

Cappiello, G. ;

Micera, S. ;

Edin, B. B. ;

Beccai, L. ;

Cipriani, C. .

BIOLOGICAL CYBERNETICS, 2006, 95 (06) :629-644

[8] ON GRASP CHOICE, GRASP MODELS, AND THE DESIGN OF HANDS FOR MANUFACTURING TASKS [J].

CUTKOSKY, MR .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (03) :269-279

[9] Multiple finger, passive adaptive grasp prosthetic hand [J].

Dechev, N ;

Cleghorn, WL ;

Naumann, S .

MECHANISM AND MACHINE THEORY, 2001, 36 (10) :1157-1173

[10]

Diftler MA, 2011, IEEE INT CONF ROBOT, P2178

← 1 2 3 →