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 language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Publisher | IEEE |
| Pages | 723-728 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 1996 |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: Mar 18 1996 → Mar 21 1996 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 3/18/96 → 3/21/96 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Development of a tactile sensing flexible actuator
AU - Tanaka, Yutaka
AU - Gofuku, Akio
AU - Fujino, Yuji
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0029695961&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029695961&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0029695961
VL - 2
SP - 723
EP - 728
BT - International Workshop on Advanced Motion Control, AMC
PB - IEEE
ER -