Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.

Original languageEnglish
Title of host publication2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
Pages469-471
Number of pages3
DOIs
Publication statusPublished - 2012
Event22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation - Nagoya, Japan
Duration: Nov 6 2011Nov 9 2011

Other

Other22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation
CountryJapan
CityNagoya
Period11/6/1111/9/11

Fingerprint

End effectors
Equations of motion
Experiments
Computer simulation
Sensorless control

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering

Cite this

Tahara, K., Maruta, K., & Yamamoto, M. (2012). Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. In 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation" (pp. 469-471). [6102234] https://doi.org/10.1109/MHS.2011.6102234

Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. / Tahara, Kenji; Maruta, Keigo; Yamamoto, Motoji.

2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". 2012. p. 469-471 6102234.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tahara, K, Maruta, K & Yamamoto, M 2012, Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. in 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"., 6102234, pp. 469-471, 22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation, Nagoya, Japan, 11/6/11. https://doi.org/10.1109/MHS.2011.6102234
Tahara K, Maruta K, Yamamoto M. Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. In 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". 2012. p. 469-471. 6102234 https://doi.org/10.1109/MHS.2011.6102234
Tahara, Kenji ; Maruta, Keigo ; Yamamoto, Motoji. / Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". 2012. pp. 469-471
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