ID | 48955 |
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著者 |
Nagase, Jun-ya
School of Science and Technology, Kwansei Gakuin University
Wakimoto, Shuichi
Research Core for Interdisciplinary Sciences, Okayama University
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Satoh, Toshiyuki
Faculty of Systems Science and Technology, Akita Prefectural University
Saga, Norihiko
School of Science and Technology, Kwansei Gakuin University
Suzumori, Koichi
Graduate School of Natural Science and Technology, Okayama University
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抄録 | 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.
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発行日 | 2011-10
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出版物タイトル |
Smart Materials and Structures
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巻 | 20巻
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号 | 10号
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出版者 | IOP Publishing
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ISSN | 0964-1726
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資料タイプ |
学術雑誌論文
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プロジェクト |
異分野融合先端研究コア
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オフィシャル URL | http://iopscience.iop.org/0964-1726/20/10/105015
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言語 |
英語
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論文のバージョン | author
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査読 |
有り
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DOI | |
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