start-ver=1.4
cd-journal=joma
no-vol=20
cd-vols=
no-issue=10
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=201110
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand.
en-copyright=
kn-copyright=

en-aut-name=NagaseJun-ya
en-aut-sei=Nagase
en-aut-mei=Jun-ya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SatohToshiyuki
en-aut-sei=Satoh
en-aut-mei=Toshiyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SagaNorihiko
en-aut-sei=Saga
en-aut-mei=Norihiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=School of Science and Technology, Kwansei Gakuin University

affil-num=2
en-affil=
kn-affil=Research Core for Interdisciplinary Sciences, Okayama University

affil-num=3
en-affil=
kn-affil=Faculty of Systems Science and Technology, Akita Prefectural University

affil-num=4
en-affil=
kn-affil=School of Science and Technology, Kwansei Gakuin University

affil-num=5
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University
END