TY - GEN
T1 - Development of power robot hand with shape adaptability using hydraulic McKibben muscles
AU - Mori, Mayuko
AU - Suzumori, Koichi
AU - Wakimoto, Shuichi
AU - Kanda, Takefumi
AU - Takahashi, Masayuki
AU - Hosoya, Takashi
AU - Takematu, Emi
PY - 2010/8/26
Y1 - 2010/8/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955799403&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955799403&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509489
DO - 10.1109/ROBOT.2010.5509489
M3 - Conference contribution
AN - SCOPUS:77955799403
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1162
EP - 1168
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -