NDLI: Stable pinching with fingertips in humanoid robot hand

Content Provider	IEEE Xplore Digital Library
Author	Hoshino, K. Kawabuchi, I.
Copyright Year	2005
Description	Author affiliation: Japan Sci. & Technol. Agency, Tsukuba Univ., Japan (Hoshino, K.; Kawabuchi, I.)
Abstract	It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, therefore, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and secondly propose a new robot hand capable of properly realizing a pinching motion with finger tips, by adding the minimum required degree of supplementary freedom which can be realized only with a machine. In the new robot hand, the authors mainly focus on additions of the degrees of freedom of independent motion to the terminal fingers and the degree of freedom of twisting motion to the thumb. Experiments were carried out to investigate force control characteristics of the finger tip joint. The results showed that providing the finger tip with rich force control performance even with weak force is effective for securing delicate control characteristics in a humanoid robot hand.
Starting Page	4149
Ending Page	4154
File Size	594499
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545563
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Fingers Force control Needles Thumb twisting mechanism of thumb humanoid robot hand pinching and grasping addition of degree of freedom to finger tip
Content Type	Text
Resource Type	Article

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