DocumentCode
3368260
Title
Design and stiffness modeling of a soft multi-fingered mechanism
Author
Hyo Jung Cha ; Byung-Ju Yi
Author_Institution
Dept. of Electron., Electr., Control & Instrum. Eng., Univ. of Hanyang, Ansan, South Korea
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
2811
Lastpage
2816
Abstract
This paper presents the design and stiffness modeling of a soft multi-fingered hand. First, the structure and the kinematics of one soft finger are introduced. The finger has a soft feature by using a spring as its backbone. Using five soft fingers, a multi-fingered hand is designed. Secondly, the stiffness modeling of the soft finger is conducted to measure the softness of the finger mechanism as well as estimate the actuator size. Finally, usefulness of the multi-fingered hand is demonstrated through experimental work grasping rigid and flexible objects.
Keywords
actuators; design engineering; dexterous manipulators; elastic constants; grippers; grasping; soft finger; soft multifingered mechanism; stiffness modeling; Fingers; Grasping; Humans; Medical robotics; Rehabilitation robotics; Service robots; Spine; Springs; Thumb; Wire; Multi-fingered hand; Soft finger; Spring backbone; Stiffness model;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location
Changchun
Print_ISBN
978-1-4244-2692-8
Electronic_ISBN
978-1-4244-2693-5
Type
conf
DOI
10.1109/ICMA.2009.5246452
Filename
5246452
Link To Document