Development of a tactile sensing flexible actuator

Yutaka Tanaka, Akio Gofuku, Yuji Fujino

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper the disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human's bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages723-728
Number of pages6
Volume2
Publication statusPublished - 1996
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: Mar 18 1996Mar 21 1996

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period3/18/963/21/96

Fingerprint

End effectors
Actuators
Robots
Industrial robots
Rigidity
Bone
Sensors
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tanaka, Y., Gofuku, A., & Fujino, Y. (1996). Development of a tactile sensing flexible actuator. In International Workshop on Advanced Motion Control, AMC (Vol. 2, pp. 723-728). IEEE.

Development of a tactile sensing flexible actuator. / Tanaka, Yutaka; Gofuku, Akio; Fujino, Yuji.

International Workshop on Advanced Motion Control, AMC. Vol. 2 IEEE, 1996. p. 723-728.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tanaka, Y, Gofuku, A & Fujino, Y 1996, Development of a tactile sensing flexible actuator. in International Workshop on Advanced Motion Control, AMC. vol. 2, IEEE, pp. 723-728, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 3/18/96.
Tanaka Y, Gofuku A, Fujino Y. Development of a tactile sensing flexible actuator. In International Workshop on Advanced Motion Control, AMC. Vol. 2. IEEE. 1996. p. 723-728
Tanaka, Yutaka ; Gofuku, Akio ; Fujino, Yuji. / Development of a tactile sensing flexible actuator. International Workshop on Advanced Motion Control, AMC. Vol. 2 IEEE, 1996. pp. 723-728
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