A new approach to flexible multi-joint robot finger

Author

Ahrary, Alireza

Author_Institution

Dept. of Comput. & Inf. Sci., SOJO Univ., Kumamoto, Japan

fYear

2014

fDate

7-9 March 2014

Firstpage

1

Lastpage

4

Abstract

This paper present a new approach to flexible multijoint robot finger mechanism, which consist of three links and similar to a human finger. The proposed mechanism is capable to joint as a multi-joint to realize as a soft gripper or robot hand. The advantage of proposed mechanism is obtaining more Degree-Of-Freedom (DOF) with less actuators and self-adaptive functionality under real life grasping. The structure of proposed mechanism is described and sensor feedback experiment is also given. The application of proposed mechanism to agriculture application is also discussed.

Keywords

actuators; agriculture; dexterous manipulators; flexible manipulators; grippers; sensors; DOF; actuators; agriculture application; degree-of-freedom; flexible multijoint robot finger mechanism; human finger; real life grasping; robot hand; self-adaptive functionality; sensor feedback experiment; soft gripper; Actuators; Grasping; Joints; Robot kinematics; Thumb; rehabilitation robot; robot finger; soft gripper; underactuated;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing & its Applications (CSPA), 2014 IEEE 10th International Colloquium on

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-4799-3090-6

Type

conf

DOI

10.1109/CSPA.2014.6805709

Filename

6805709