TY - GEN
T1 - A Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger
AU - Egawa, Kosuke
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 201603011, 2021.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/20
Y1 - 2021/6/20
N2 - Anthropomorphic robot hands are required not only to have dexterity related to gripping and in-hand manipulation, but also to have dexterity to perform movements required in daily activities such as pressing the pad of a finger and flipping a finger. Many of the conventional robot hands that focus on these movements are limited to the realization of the movement of pressing the pad of the finger, and few focus on the movement of flipping the finger. Therefore, in this paper, we propose a hand design method that can perform both the action of pressing the pad of the finger and the action of flipping the finger. The design method proposed in this paper is to increase the stiffness of the tendon for extension rather than that of the tendon for flexion. In order to verify the effectiveness of proposed method, we compared the flight distance of coins when flipping coins with a conventional hand that can press the pad of a finger and the robot hand designed by proposed method.
AB - Anthropomorphic robot hands are required not only to have dexterity related to gripping and in-hand manipulation, but also to have dexterity to perform movements required in daily activities such as pressing the pad of a finger and flipping a finger. Many of the conventional robot hands that focus on these movements are limited to the realization of the movement of pressing the pad of the finger, and few focus on the movement of flipping the finger. Therefore, in this paper, we propose a hand design method that can perform both the action of pressing the pad of the finger and the action of flipping the finger. The design method proposed in this paper is to increase the stiffness of the tendon for extension rather than that of the tendon for flexion. In order to verify the effectiveness of proposed method, we compared the flight distance of coins when flipping coins with a conventional hand that can press the pad of a finger and the robot hand designed by proposed method.
KW - Robot finger
KW - Tendon-driven mechanism
KW - Undr-eractuatedness
UR - http://www.scopus.com/inward/record.url?scp=85118779604&partnerID=8YFLogxK
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U2 - 10.1109/ISIE45552.2021.9576368
DO - 10.1109/ISIE45552.2021.9576368
M3 - Conference contribution
AN - SCOPUS:85118779604
T3 - IEEE International Symposium on Industrial Electronics
BT - Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Y2 - 20 June 2021 through 23 June 2021
ER -