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Development of a Hand for an Artificial Arm by using An Ultrasonic Motor

Research Project

Project/Area Number 12555038
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section展開研究
Research Field 設計工学・機械要素・トライボロジー
Research InstitutionTokyo A&T University

Principal Investigator

TOYAMA Shigeki  Tokyo A&T University, Department of Technology, Professor, 工学部, 教授 (20143381)

Co-Investigator(Kenkyū-buntansha) WADA Hiroshi  DOUBLE Research & Development CO. , LTD, President, 代表取締役(研究職)
IKEDA Kyoichi  Tokyo A&T University, Department Technology, Professor, 工学部, 教授 (60313300)
TAGAWA Yasutaka  Tokyo University of Agriculture and Technology Graduate School of Bio-Applications and Systems Engineering, Associate Professor, 工学部, 助教授 (20216807)
HASHIMOTO Takayoshi  Y. T. system, President, 取締役社長(研究職)
Project Period (FY) 2000 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥7,600,000 (Direct Cost: ¥7,600,000)
Fiscal Year 2002: ¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 2001: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2000: ¥2,800,000 (Direct Cost: ¥2,800,000)
KeywordsArtificial arm / Hand / U1trasonic motor / Gyroscopic / Finger mechanism
Research Abstract

We have developed a new robotic hand by applying the technology of ultrasonic motor. The hand works as well as the human being' s hand in movement such as grasping, picking, and so on. In this research, we have newly designed a small ultrasonic motor which has a light and small driver unit as a driving control and a small gyro compass as an input device. The motor consists of one stator and one rotor. The diameter of the stator is no more than 8.8 mm, which is the smallest one by today' s state of the art. The output torque reaches 300 gem. The rotor is made of plastics, which has the characteristics of good anti abrasion and high coefficient of frictions.
We have also investigated a new input device for a robotic hand. The device is a small gyro compass made by MEMS and is possible to sense the inertia force. We have found that our new hand is small and light and has movement similar to that of the human being' s hand.

Report

(4 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • 2000 Annual Research Report
  • Research Products

    (10 results)

All Other

All Publications (10 results)

  • [Publications] 遠山 茂樹: "Development of an Ultrasonic Motor as a Fine-Orienting Stage"IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL.17,NO.4. 464-471 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 遠山 茂樹: "Control Method for a Spherical Ultrasonic Motor"the ICMA' 02 on Human-Friendly Reliable Mechatoronics. 387-394 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 遠山 茂樹: "Dynamics Model of Human Walking Mechanism"the ICMA' 02 on Human-Friendly Reliable Mechatoronics. 447-454 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Eko Purwanto and S. Toyama: "Development of an Ultrasonic Motor as a Fine-Orienting Stage"IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. 17, NO. 4. 464-471 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Eko Purwanto, Shigeki Toyama, Naoki Toyota, Hiroaki Murakami: "Control Method for a Spherical Ultrasonic Motor"Proc. of the ICMA '02 on Human-Friendly Reliable Mechatronics. 387-394 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Shigeki Toyama, Naoki Takami: "Dynamics Model of Human Walking Mechanism"Proc. of the ICMA '02 on Human-Friendly Reliable Mechatronics. 447-454 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 遠山 茂樹: "Development of an Ultrasonic Motor as a Fine-Orienting Stage"IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL.17,NO.4. (2001)

    • Related Report
      2002 Annual Research Report
  • [Publications] 遠山 茂樹: "Control Method for a Spherical Ultrasonic Motor"the ICMA' 02 on Human-Friendly Reliable Mechatronics. 387-394 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 遠山 茂樹: "Dynamics Model of Human Walking Mechanism"the ICMA' 02 on Human-Friendly Reliable Mechatronics. 447-454 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 遠山 茂樹: "球面超音波モータを用いた動力義手の開発"精密工学会誌. Vol.67・No.4. 654-659 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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