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Proceedings Paper

Soft finger-joint mechanism for human-care service robot
Author(s): Shinya Kajikawa
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Paper Abstract

In this paper, we propose a soft finger-joint mechanism that gives a robot mult-directional passive compliance and the ability of the estimation of external torque. In this joint, we utilize silicone gum cushions as elestic elements to transmit motion from an actuator to an output link. The cusion contributes to both the generation of passive compliant motion for external torque and the estimation of the external torque. Based on the proposed mechanism, we developed the metacarpal-phalangeal joint (MP joint) of the finger of a robot for human-care services. In addition, it is confirmed in several experiments that the proposed mechanism exhibits the expected characteristics.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423A (2 May 2006); doi: 10.1117/12.669398
Show Author Affiliations
Shinya Kajikawa, Tohuku Gakuin Univ. (Japan)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics

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