TY - GEN
T1 - Five-fingered robot hand using ultrasonic motors and elastic elements
AU - Yamano, Ikuo
AU - Maeno, Takashi
PY - 2005
Y1 - 2005
N2 - A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.
AB - A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.
KW - Robot hand
KW - Tele-operation
KW - Ultrasonic motor
KW - Wire-driven mechanism
UR - http://www.scopus.com/inward/record.url?scp=33846126920&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846126920&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570517
DO - 10.1109/ROBOT.2005.1570517
M3 - Conference contribution
AN - SCOPUS:33846126920
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2673
EP - 2678
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -