DocumentCode :
2343387
Title :
Development of a high-speed multifingered hand system and its application to catching
Author :
Namiki, Akio ; Imai, Yoshiro ; Ishikawa, Masatoshi ; Kaneko, Makoto
Author_Institution :
Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan
Volume :
3
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
2666
Abstract :
In this paper we introduce a newly developed high-speed multi-fingered robotic hand. The hand has 8-joints and 3-fingers. A newly developed small harmonic drive gear and a high-power mini actuator are fitted in each finger link, and a strain gauge sensor is in each joint. The weight of the hand module is only 0.8 kg, but high-speed motion and high-power grasping are possible. The hand can close its joints at 180 deg per 0.1 s, and the fingertips have an output force of about 28 N. The hand system is controlled by a massively parallel vision system. Experimental results are shown in which a falling object was caught by the high-speed hand.
Keywords :
actuators; dexterous manipulators; strain gauges; 0.8 kg; catching; falling object; finger link; fingers; hand module; harmonic drive gear; high power grasping; high power mini actuator; high speed motion; high speed multifingered hand system; joints; parallel vision system; strain gauge sensor; Actuators; Capacitive sensors; Control systems; Fingers; Force control; Force sensors; Gears; Grasping; Machine vision; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249273
Filename :
1249273
Link To Document :
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