MANIPULATION
1A1-A01 Mechanism Design of Human Mimetic Robotic Hands with Passivity in Skins and Joints
Hiroyasu Iwata, Takashi Hayashi, Y. Shiozawa, Kenta Kimura, S. Ishi, K Sakagami, T. Ohta, Kunihiro IWAMOTO, Shigeki Sugano
- Year
- 2008
- Citations
- 4
- Access
- Open access
Abstract
Installation of passivity on the skin and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of handling and manipulation. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented.
Keywords
PassivityMechanism (biology)Key (lock)Robotic handComputer scienceStability (learning theory)EngineeringMechanical engineeringControl engineeringRobot
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