Development of robot finger using ultrasonic motors driven by superimposed signal input

Shosho Oh; Kenjiro Takemura

doi:10.1109/ULTSYM.2014.0621

Development of robot finger using ultrasonic motors driven by superimposed signal input

Shosho Oh, Kenjiro Takemura

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

When developing a multi-fingered robot hand driven by ultrasonic motors (USM), complicated wiring may become one of the essential problems. This study introduces a novel driving method for multiple USMs using superimposed signal input to overcome this problem. First, we designed a robot finger driven by built-in USMs. The robot finger has four joints with three-degree-of-freedom, i.e., DIP joint is dependent to PIP joint. Second, we developed USMs which are suitable for the robot finger actuation. Finally, we developed and characterized the robot finger with the superimposed signal input.

Original language	English
Title of host publication	IEEE International Ultrasonics Symposium, IUS
Publisher	IEEE Computer Society
Pages	2490-2493
Number of pages	4
ISBN (Electronic)	9781479970490
DOIs	https://doi.org/10.1109/ULTSYM.2014.0621
Publication status	Published - 2014 Oct 20
Event	2014 IEEE International Ultrasonics Symposium, IUS 2014 - Chicago, United States Duration: 2014 Sept 3 → 2014 Sept 6

Publication series

Name	IEEE International Ultrasonics Symposium, IUS
ISSN (Print)	1948-5719
ISSN (Electronic)	1948-5727

Other

Other	2014 IEEE International Ultrasonics Symposium, IUS 2014
Country/Territory	United States
City	Chicago
Period	14/9/3 → 14/9/6

Keywords

Robot finger
Superimposed signal input
Ultrasonic motor

ASJC Scopus subject areas

Acoustics and Ultrasonics

Access to Document

10.1109/ULTSYM.2014.0621

Cite this

Oh, S & Takemura, K 2014, Development of robot finger using ultrasonic motors driven by superimposed signal input. in IEEE International Ultrasonics Symposium, IUS., 6931907, IEEE International Ultrasonics Symposium, IUS, IEEE Computer Society, pp. 2490-2493, 2014 IEEE International Ultrasonics Symposium, IUS 2014, Chicago, United States, 14/9/3. https://doi.org/10.1109/ULTSYM.2014.0621

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AB - When developing a multi-fingered robot hand driven by ultrasonic motors (USM), complicated wiring may become one of the essential problems. This study introduces a novel driving method for multiple USMs using superimposed signal input to overcome this problem. First, we designed a robot finger driven by built-in USMs. The robot finger has four joints with three-degree-of-freedom, i.e., DIP joint is dependent to PIP joint. Second, we developed USMs which are suitable for the robot finger actuation. Finally, we developed and characterized the robot finger with the superimposed signal input.

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Development of robot finger using ultrasonic motors driven by superimposed signal input

Abstract

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Keywords

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