Title :
Development of a Robot Finger Module with Multi-directional Passive Compliance
Author :
Kajikawa, Shinya
Author_Institution :
Dept. of Mech. Eng. & Intelligent Syst., Tohoku Gakuin Univ., Miyagi
Abstract :
In this paper, we describe the development of a human-sized 3DOF finger module for human-care services, having multi-directional passive compliance and the ability to estimate external torque. In order to achieve the above characteristics, silicone gum cushions (SGC) are used at the finger-tip and the MP joint (metacarpal-phalangeal joint). These SGCs have a hollow shape and deform easily. The elastic deformation of SGC enables the robot to react softly to the external forces exerted from multiple directions. Furthermore, these forces can be inferred by measuring the pressure in the SGC´s hollow. The basic characteristics of the module´s passive compliance and its accuracy in sensing external forces are examined through several experiments. In addition, in order to confirm the possible application of this finger to a human-care services, we executed an experiment that simulates the motion of wiping a human body, taking advantage of the system´s merits
Keywords :
compliance control; manipulator dynamics; elastic deformation; human-care services; metacarpal-phalangeal joint; multi-directional passive compliance; robot finger module; silicone gum cushions; Actuators; Fingers; Force measurement; Humans; Intelligent robots; Mechanical engineering; Orbital robotics; Robot sensing systems; Torque; Wire; Estimation of Torque; Human-care; Multi-directional Passivity; Robot Finger; Soft Contact;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281862