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ID 30118
FullText URL
Author
Tanaka, Yutaka
Gofuku, Akio Kaken ID researchmap
Fujino, Yuji
Abstract

The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action

Keywords
actuators
manipulators
tactile sensors
Note
Digital Object Identifier: 10.1109/AMC.1996.509337
Published with permission from the copyright holder. This is the institute's copy, as published in Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on, 18-21 March 1996, Vol. 2, Pages 723-728.
Publisher URL:http://dx.doi.org/10.1109/AMC.1996.509337
Copyright © 1996 IEEE. All rights reserved.
Published Date
1996-3
Publication Title
Proceedings of the AMC '96-Mie : 1996 4th International Workshop on Advanced Motion Control
Volume
volume2
Publisher
Institute of Electrical and Electronics Engineers
Start Page
723
End Page
728
NCID
BA28770595
Content Type
Conference Paper
language
英語
Copyright Holders
IEEE
Event Title
AMC '96-Mie : 1996 4th International Workshop on Advanced Motion Control
Event Location
Mie, Japan
Event Dates
1996-03
File Version
publisher
Refereed
True
DOI
Submission Path
industrial_engineering/98