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ID 30114
フルテキストURL
著者
Noritsugu, Toshiro Okayama University
Sasaki, Daisuke Okayama University
Takaiwa, Masahiro Okayama University
抄録

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.

キーワード
pneumatic actuators
robots
tactile sensors
備考
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.
発行日
2003-09-14
出版物タイトル
Robotics and Automation
2巻
開始ページ
2188
終了ページ
2193
資料タイプ
学術雑誌論文
言語
English
査読
有り
Submission Path
industrial_engineering/74