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Start Over Descriptor "Robot hand" Publisher japan society of mechanical engineers
394 results on '"Robot hand"'

6. Grasping with contacting each finger simultaneously by the robot hand equipped with optical proximity sensors on fingertips (Estimation of reflectance of the object surface and calibration the sensor output)

Author

Makoto Shimojo, Aiguo Ming, Yosuke Suzuki, and Keisuke Koyama

Subjects
Surface (mathematics), 0209 industrial biotechnology, Computer science, business.industry, 010401 analytical chemistry, Robot hand, 02 engineering and technology, Object (computer science), 01 natural sciences, Reflectivity, 0104 chemical sciences, 020901 industrial engineering & automation, Proximity sensor, Calibration, Computer vision, Artificial intelligence, business, Robotic arm, Simulation
Published
2016
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21. CbR Hand: Cardboard Robot Hand

Author

Yuta Wakabayashi and Yuya Shinagawa

Subjects
Mechanism (engineering), Computer science, Human–computer interaction, visual_art, visual_art.visual_art_medium, Robot hand, cardboard
Published
2020
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25. Development of Under-Supporting Extension Hand for Tableware Handling (New Concept of the Hand for Stable Handling and Its Design for Arm System)

Author

Hideki Ogawa, Nobuto Matsuhira, Hideichi Nakamoto, and Shigeo Hirose

Subjects
Service robot, Mechanism (engineering), Development (topology), Mechanics of Materials, Computer science, Mechanical Engineering, Robot hand, Control engineering, Extension (predicate logic), Manipulator, Industrial and Manufacturing Engineering, Simulation
Published
2013
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32. Proposal of iris robot hand with swinging mechanism

Author

Shinya Kobayashi, Tadashi Egami, Tomoyasu Yosikawa, and Makpal Sarieva

Subjects
Mechanism (engineering), medicine.anatomical_structure, Computer science, business.industry, medicine, Robot hand, Computer vision, Artificial intelligence, Iris (anatomy), business
Published
2019
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40. Outer Shape Classification of Object in Rotation Operation by Universal Robot Hand Using Continuous Dynamic Programming

Author

Hidenori Shirasawa, Nobuaki Imamura, Fumio Kojima, Hiroyuki Nakamoto, and Futoshi Kobayashi

Subjects
Continuous dynamic, Mechanics of Materials, business.industry, Mechanical Engineering, Robot hand, Computer vision, Artificial intelligence, Object (computer science), business, Rotation, Industrial and Manufacturing Engineering, Mathematics
Published
2008
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42. Placing Motion of an Object by a Robot Hand with a Flexible Sensor

Author

Naoki Saito, Yoshinao Suzuki, Hideharu Okano, and Toshiyuki Satoh

Subjects
Flexibility (engineering), Engineering, General Computer Science, Computer science, business.industry, Mechanical Engineering, Robot hand, Impulse (physics), Object (computer science), Motion (physics), Industrial and Manufacturing Engineering, Shock (mechanics), Computer Science::Robotics, Control theory, Mechanics of Materials, Trajectory, Computer vision, Artificial intelligence, Electrical and Electronic Engineering, Impact, business
Abstract

We examine a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with a small impulse force between the object and the floor. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occurring when the hand grasps the object. The dynamic model represents the relation between the impulse force and an approaching trajectory of the robot hand to the floor. From this model, we can obtain the trajectory of the hand that ensures that the impact force is less than the object’s mass. The validity of the model and the effect of the sensor’s flexibility are examined through simulation. We then confirm experimentally that the robot hand puts down the object without an excessive impact force using the obtained trajectory.

Published
2007
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46. Grasping Force Control of Robot Hand Using Stepping Motors, Gears and Plate Springs (Feedforward Grasping Force Control in Case that Shape of Grasped Body is Known)

Author

Ping Han and Hiroyuki Kojima

Subjects
Engineering, business.industry, Mechanical Engineering, Feed forward, Hybrid type, Equations of motion, Robot hand, Ball screw, Industrial and Manufacturing Engineering, Mechanics of Materials, Control theory, Magnet, Stepper motor, business, Robotic arm
Abstract

In this paper, a prototype robot hand consisting of permanent magnet type stepping motors, gears and plate springs is developed, and the grasping force performance of the robot hand is investigated theoretically and experimentally. The robot hand is attached to a single-joint robot arm driven with a hybrid type stepping motor and a ball screw. In the theoretical analysis, the equations of motion of the system are derived, and the numerical calculations have been carried out. Then, it is ascertained numerically that the feedforward grasping force control can be well executed. Furthermore, the experiments have been carried out, and the excellent performance of the feedforward grasping force control is confirmed experimentally. Moreover, it is ascertained theoretically and experimentally that the hunting phenomena of the stepping motors are generated, when the operation time of the feedforward grasping force control is shorter to some extent.

Published
2007
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47. Basic Study of Wearable Robot Hand using a Parallel Mechanism to Rehabilitate Fingers

Author

Naoki Yoshida, Hiroshi Tachiya, Shogo Yamamoto, and Yusuke Miyazaki

Subjects
Engineering, Social robot, business.industry, Mechanical Engineering, technology, industry, and agriculture, Base (geometry), Robot hand, Object (computer science), Industrial and Manufacturing Engineering, body regions, Mechanism (engineering), Wearable robot, Mechanics of Materials, Robot, Computer vision, Artificial intelligence, Actuator, business
Abstract

This study discusses a robot hand which can be mounted on the human hand to rehabilitate damaged fingers or to assist finger motion. Ordinary robot hands tend to be heavy and large, because they require to mount an actuator on each joint and to use many actuators. Thus, the robot hands are not appropriate to be mounted on the hand. This study notes that human hand grasping any objects composes parallel mechanism. As the parallel mechanisms can arrange the actuators on the base, their moving parts are simple and lightweight. Thus, we propose the wearable robot hand using parallel mechanism. The chains of the proposed mechanism are fixed to the tips of the fingers and the mechanism uses the grasped object by fingers as the output link. When human hand equipped with the proposed hand grasps an object, the proposed robot hand composes a parallel mechanism. Then, human fingers can be operated in a variety of motions. Furthermore, the restraint of the fingers by the wearable robot hand can be easily taken off by releasing the grasped object. Thus, human hand will be safe with respect to unexpected motion of the wearable robot hand.

Published
2007
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