Paper Info
Title
Development of robot hand with multi-directional variable stiffness for human-care services
Abstract
This paper describes a novel human-sized robot hand that has the ability to adjust its joint stiffness and sense external forces. This robot hand consists of four fingers, each with three joints. To downsize the finger modules, the DIP and PIP joints are coupled with a linkage mechanism and actuated by a single motor. In addition, for the MP joint, two kinds of silicone rubber cushion, SRCtrans and SRCstiff , are inserted between the motor and the output link. The elasticity of the SRCtrans provides softness to the joint. On the other hand, the SRCstiff compresses the SRCtrans by its expansion and as a result controls the stiffness of the joint. Furthermore, the MP joint can estimate the direction and magnitude of the forces exerted from multiple directions by measuring the pressure inside the SRCtrans. In this paper, we present the detailed mechanism of the robot fingers and examine their basic performance for an adjustable range of joint stiffness, controllability, output, and sensing of external forces. We then demonstrate the effectiveness of this hand for human-care by applying it to a human massage.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385477
Intelligent Robots and Systems
Keywords
Field
DocType
elasticity,manipulator dynamics,medical robotics,patient care,DIP joints,MP joint,PIP joints,SRCstiff,SRCtrans,external forces,human massage,human-care services,human-sized robot hand,joint stiffness,linkage mechanism,multidirectional variable stiffness,silicone rubber cushion,single motor
Cushion,Joint stiffness,Robot hand,Torque,Controllability,Computer science,Stiffness,Control engineering,Robot,Elasticity (economics)
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4673-1737-5
0
PageRank 
References 
Authors
0.34
4
2
Name
Order
Citations
PageRank
Shinya Kajikawa1113.93
Abe, K.2466.27