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Erschienen in:
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2016 | OriginalPaper | Buchkapitel

Artificial Hand with Stiffness Adjuster

verfasst von : K. Koganezawa, A. Ito

Erschienen in: Intelligent Autonomous Systems 13

Verlag: Springer International Publishing

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Abstract

The paper deals with a five-finger hand, which is based on the original finger mechanism consisting of a planetary gear system and the compound four bar linkages. It takes an all-in-one design: all of the actuators (total five DC motors) are embedded into a palm, while finger parts have no electronic devices for attaining to be inherently safe as an end-effector. The mechanism allows us adaptive synergic motions of three joints of a finger (MP, PIP, and DIP) according to the shape of the objects to be gripped. The hand has a novel mechanism for adjusting stiffness of fingers, which provides an ability to give passive gripping force to a gripping object according to its elasticity. Driving tests show that it achieves fundamental motions of a human hand in daily life without any sensory feedback and also shows that the stiffness adjuster works effectively.

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Vorheriges Kapitel Clustering of Humanoid Robot Motions Executed in Response to Touch
Nächstes Kapitel Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions
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Metadaten
Titel
Artificial Hand with Stiffness Adjuster
verfasst von
K. Koganezawa
A. Ito
Copyright-Jahr
2016
Buch
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_78