Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators

Jun Ya Nagase, Shuichi Wakimoto, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

Research output: Contribution to journalArticle

35 Citations (Scopus)

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.

Original languageEnglish
Article number105015
JournalSmart Materials and Structures
Volume20
Issue number10
DOIs
Publication statusPublished - Oct 2011

Fingerprint

end effectors
pneumatics
Rubber
End effectors
rubber
Pneumatics
stiffness
Actuators
actuators
robots
Stiffness
Robots
adjusting
static friction
tendons
labor
Tendons
Health care
Aging of materials
Personnel

ASJC Scopus subject areas

  • Signal Processing
  • Electrical and Electronic Engineering
  • Atomic and Molecular Physics, and Optics
  • Civil and Structural Engineering
  • Condensed Matter Physics
  • Mechanics of Materials
  • Materials Science(all)

Cite this

Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators. / Nagase, Jun Ya; Wakimoto, Shuichi; Satoh, Toshiyuki; Saga, Norihiko; Suzumori, Koichi.

In: Smart Materials and Structures, Vol. 20, No. 10, 105015, 10.2011.

Research output: Contribution to journalArticle

Nagase, Jun Ya ; Wakimoto, Shuichi ; Satoh, Toshiyuki ; Saga, Norihiko ; Suzumori, Koichi. / Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators. In: Smart Materials and Structures. 2011 ; Vol. 20, No. 10.
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