Developments of new anthropomorphic robot hand and its master slave system

Author

Mouri, Tetsuya ; Kawasaki, Haruhisa ; Umebayashi, Katsuya

Author_Institution

Dept. of Human & Inf. Syst. Eng., Gifu Univ., Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

3225

Lastpage

3230

Abstract

This paper presents a newly developed anthropomorphic robot hand called KH Hand type S, which has high potential of dexterous manipulation and displaying hand shape, and its master slave system using the bilateral controller for five-fingers robot hand. The robot hand is improved by reducing the weight, the backlash of transmission, and the friction between gears by using elastic body. Expression of Japanese finger alphabet is shown. In order to demonstrate the dexterous grasping and manipulating an object, the experiment of peg-in-hole task controlled by bilateral controller is shown. These results denote that the KH Hand type S has a high potential to perform dexterous object manipulation like the human hand.

Keywords

dexterous manipulators; grippers; telerobotics; Japanese finger alphabet; KH Hand type S; anthropomorphic robot hand; dexterous grasping; dexterous manipulation; five-fingers robot hand; master slave system; Anthropomorphism; Control systems; Fingers; Friction; Gears; Grasping; Humans; Master-slave; Robot control; Shape control; Grasping; Manipulating; Master slave system; Multi-fingers; Robot hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545508

Filename

1545508