Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons

被引：40

作者：

Ozawa, Ryuta ^{[1
]}

Hashirii, Kazunori ^{[2
]}

Yoshimura, Yohtaro ^{[3
]}

Moriya, Michinori ^{[4
]}

Kobayashi, Hiroaki ^{[5
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga 5358577, Japan

[2] Nabel Co Ltd, Div Res & Dev, Kyoto, Japan

[3] Mitsubishi Electr Corp, Tokyo 100, Japan

[4] Kubota Corp, Construct Machinery Engn Dept, Osaka, Japan

[5] Meiji Univ, Dept Mech Engn Informat, Tama Ku, Kawasaki, Kanagawa 2148571, Japan

来源：

AUTONOMOUS ROBOTS | 2014年 / 36卷 / 1-2期

关键词：

Robotic hand; Tendon-driven mechanisms; Manipulation; Design; GIFU HAND; FINGER;

D O I：

10.1007/s10514-013-9362-z

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a design of a three-fingered robotic hand driven by active and passive tendons and proposes control methods for this hand. The tendon-driven robotic hand consists of the thumb, the index and the middle fingers. The robotic thumb can move all the joints independently. In contrast, the index and the middle robotic fingers are under-actuated using the combination of active and passive tendons, and move the terminal two joints synchronously, which is one of the important features of the human digits. We present passivity-based impedance and force controllers for tendon-driven robotic fingers and discuss how to combine them for fast and secure grasps. We experimentally validate that the robotic hand moves fast and manipulates an object and demonstrate that the robotic hand grasps objects in diverse ways.

引用

页码：67 / 78

页数：12