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 | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 1162-1168 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 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 |
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 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
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
Y1 - 2010
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
SP - 1162
EP - 1168
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -