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

doi:10.1109/ROBOT.2010.5509489

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 proceeding › Conference contribution

21 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 language	English
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	1162-1168
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2010.5509489
Publication status	Published - Aug 26 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2010.5509489

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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 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1162-1168). [5509489] (Proceedings - IEEE International Conference on Robotics and Automation). 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.

2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1162-1168 5509489 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509489, Proceedings - IEEE International Conference on Robotics and Automation, 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 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1162-1168. 5509489. (Proceedings - IEEE International Conference on Robotics and Automation). 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. 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. pp. 1162-1168 (Proceedings - IEEE International Conference on Robotics and Automation).

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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.",

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