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ID 30114
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Abstract

When robots work together with a human or contact with a human body directly in such as a medical welfare field, in order to avoid an accident from crash and so on, a flexibility is required for the robot. The purpose of this study is to realize a safe mechanism for a human-friendly robot. In this paper, the structure and the fundamental characteristics of a pneumatic rubber muscle and soft mechanism are described, and then the structure and the fundamental operation of the developed soft hand are shown. Finally, the shaking hands is discussed as an example of force communication tasks between a robot and a human.

Keywords
pneumatic actuators
robots
tactile sensors
Note
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, 14-19 Sept. 2003, vol.2, Pages 2188-2193.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1241918
Copyright © 2003 IEEE. All rights reserved.
Published Date
2003-09-14
Publication Title
Robotics and Automation
Volume
volume2
Start Page
2188
End Page
2193
Content Type
Journal Article
language
英語
Refereed
True
Submission Path
industrial_engineering/74