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ICRA
2005
IEEE

Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements

10 years 3 months ago
Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements
- A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.
Ikuo Yamano, Takashi Maeno
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Ikuo Yamano, Takashi Maeno
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