Development of power robot hand with shape adaptability using hydraulic McKibben muscles

Mayuko Mori, Koichi Suzumori, Shuichi Wakimoto, Takefumi Kanda, Masayuki Takahashi, Takashi Hosoya, Emi Takematu

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

18 Citations (Scopus)

Abstract

We have developed a hydraulic McKibben artificial muscle which realizes great force density approximately ten times larger than the other conventional actuators. In this paper, we have applied this muscle to a power robot hand. The hand finger consists of metal links and the muscles. The contraction of the muscles generates the bending motion of the fingers. This hand has large holding capacity and shape adaptability to grasp objects. The experiments show that maximum holding force of the hand is 5000N. It can hold three types of different shaped objects; cylindrical objects of φ 267mm and φ 165mm in diameter and a square cross section of width 200mm in side. This hand can be applied to various applications, for example rescue robots in disaster area and forestry industry.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1162-1168
Number of pages7
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Fingerprint

End effectors
Muscle
Hydraulics
Robots
Forestry
Disasters
Actuators
Metals
Industry
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mori, M., Suzumori, K., Wakimoto, S., Kanda, T., Takahashi, M., Hosoya, T., & Takematu, E. (2010). Development of power robot hand with shape adaptability using hydraulic McKibben muscles. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1162-1168). [5509489] https://doi.org/10.1109/ROBOT.2010.5509489

Development of power robot hand with shape adaptability using hydraulic McKibben muscles. / Mori, Mayuko; Suzumori, Koichi; Wakimoto, Shuichi; Kanda, Takefumi; Takahashi, Masayuki; Hosoya, Takashi; Takematu, Emi.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 1162-1168 5509489.

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

Mori, M, Suzumori, K, Wakimoto, S, Kanda, T, Takahashi, M, Hosoya, T & Takematu, E 2010, Development of power robot hand with shape adaptability using hydraulic McKibben muscles. in Proceedings - IEEE International Conference on Robotics and Automation., 5509489, pp. 1162-1168, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509489
Mori M, Suzumori K, Wakimoto S, Kanda T, Takahashi M, Hosoya T et al. Development of power robot hand with shape adaptability using hydraulic McKibben muscles. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 1162-1168. 5509489 https://doi.org/10.1109/ROBOT.2010.5509489
Mori, Mayuko ; Suzumori, Koichi ; Wakimoto, Shuichi ; Kanda, Takefumi ; Takahashi, Masayuki ; Hosoya, Takashi ; Takematu, Emi. / Development of power robot hand with shape adaptability using hydraulic McKibben muscles. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 1162-1168
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