Title :
A novel grasping mechanism for flat-shaped objects inspired by lateral grasp
Author :
Kosuge, Kazuhiro ; Lee, Jina ; Ichinose, Junya ; Hirata, Yasuhisa
Author_Institution :
Dept. of Bioeng. & Robot., Tohoku Univ., Sendai
Abstract :
In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by humanpsilas lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate the effectiveness of the proposed grasping mechanism.
Keywords :
manipulators; medical robotics; dishes; flat shaped objects; grasping mechanism; lateral grasp; Actuators; Biomechatronics; Force control; Grasping; Humans; Robots; Robustness; Stability analysis; Tendons; USA Councils;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
978-1-4244-2882-3
Electronic_ISBN :
978-1-4244-2883-0
DOI :
10.1109/BIOROB.2008.4762905
