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ID 48955
フルテキストURL
著者
Nagase, Jun-ya School of Science and Technology, Kwansei Gakuin University
Wakimoto, Shuichi Research Core for Interdisciplinary Sciences, Okayama University
Satoh, Toshiyuki Faculty of Systems Science and Technology, Akita Prefectural University
Saga, Norihiko School of Science and Technology, Kwansei Gakuin University
Suzumori, Koichi Graduate School of Natural Science and Technology, Okayama University
抄録
In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand.
発行日
2011-10
出版物タイトル
Smart Materials and Structures
20巻
10号
出版者
IOP Publishing
ISSN
0964-1726
資料タイプ
学術雑誌論文
プロジェクト
異分野融合先端研究コア
オフィシャル URL
http://iopscience.iop.org/0964-1726/20/10/105015
言語
English
論文のバージョン
author
査読
有り
DOI
Web of Sience KeyUT