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ID 48955
FullText URL
Author
Nagase, Jun-ya
Satoh, Toshiyuki
Saga, Norihiko
Abstract
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.
Published Date
2011-10
Publication Title
Smart Materials and Structures
Volume
volume20
Issue
issue10
Publisher
IOP Publishing
ISSN
0964-1726
Content Type
Journal Article
Project
Research Core for Interdisciplinary Sciences
Official Url
http://iopscience.iop.org/0964-1726/20/10/105015
language
英語
File Version
author
Refereed
True
DOI
Web of Sience KeyUT