A Dexterous Robot Hand with Bio-mimetic Mechanism
- A Dexterous Robot Hand with Bio-mimetic Mechanism
- Robot Hand; Bio-Mimetic; Tactile Sensor; Grasping Control
- Issue Date
- International Conference on Advanced Mechatronics
- , 421-426
- This paper describes a development of bio-mimetic
robot hands and its control scheme. This robot hand
has four independently-moving fingers, which are
driven by four coupled link mechanism with two linear
actuators. By using the linear actuators, we could make
the hand similar to human hand in its structure and
motion. The coupled link mechanism makes the hand
compact in structure and efficient in power.
The robot hand was designed considering the dexterity
and the size suited for various tools and objects using
daily life. The hand has tactile sensors mounted on the
palm and the fingertips of each finger.
With tactile sensor based feedback control and force
closure method, we could control the hand very stable
in grasping and handling of various objects.
- Appears in Collections:
- KIST Publication > Conference Paper
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