Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

Kenji Tahara; Keigo Maruta; Motoji Yamamoto

doi:10.1109/MHS.2011.6102234

Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

Kenji Tahara, Keigo Maruta, Motoji Yamamoto

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	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"
Publisher	IEEE Computer Society
Pages	469-471
Number of pages	3
ISBN (Print)	9781457713613
DOIs	https://doi.org/10.1109/MHS.2011.6102234
Publication status	Published - Jan 1 2011
Event	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 Duration: Nov 6 2011 → Nov 9 2011

Publication series

Name	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"

Other

Other	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
Country	Japan
City	Nagoya
Period	11/6/11 → 11/9/11

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Mechanical Engineering

Access to Document

10.1109/MHS.2011.6102234

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Tahara, K., Maruta, K., & Yamamoto, M. (2011). 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] (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"). IEEE Computer Society. 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". IEEE Computer Society, 2011. p. 469-471 6102234 (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").

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tahara, K, Maruta, K & Yamamoto, M 2011, 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, 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", IEEE Computer Society, 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". IEEE Computer Society. 2011. p. 469-471. 6102234. (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"). 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". IEEE Computer Society, 2011. pp. 469-471 (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").

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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.",

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