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Development of balloon-driven robotic hand using pneumatic variable-stiffness finger

Research Project

Project/Area Number 23760246
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRyukoku University (2012-2013)
Kwansei Gakuin University (2011)

Principal Investigator

NAGASE Junya  龍谷大学, 理工学部, 助教 (70582245)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords剛性可変 / ロボットハンド / 予測機能制御 / ソフトメカニズム / バルーン / 力制御 / 角度制御 / 表面剛性 / 腱駆動
Research Abstract

Robots that are designed for use in the fields of medical care and welfare must be safe for the human environment because they often come into contact with humans. Furthermore, robots must have dexterity that is similar to that of humans. Under these circumstances, we have developed a robot hand using tendon-driven system, which is lightweight, flexibility and has the same degree of freedom as biological human hands. Moreover, we have devised a robot hand with pneumatic stiffness change finger that can be changed surface stiffness by changing input pressure. And, the stiffness-changeable finger is able to control the grasping force easily by predictive functional control.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (21 results)

All 2013 2012 2011 Other

All Journal Article (12 results) (of which Peer Reviewed: 12 results) Presentation (8 results) Remarks (1 results)

  • [Journal Article] Predictive Functional Control of Tendon-driven Actuator using Pneumatic Balloon2013

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and KoichiSuzumori
    • Journal Title

      Journal of Advanced Mechanical Design, Systems, and Manufacturing

      Volume: Vol. 7, No. 4 Pages: 752-762

    • NAID

      130003384445

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Predictive Functional Control with Disturbance Observer for Tendon-driven Balloon Actuator2013

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori
    • Journal Title

      International Journal of Computer, Information Science and Engineering

      Volume: Vol.7, No.12 Pages: 627-632

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Predictive Functional Control with Disturbance Observer for Tendon-driven Balloon Actuator2013

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori
    • Journal Title

      International Journal of Computer, Infor- mation Science and Engineering

      Volume: 7 Pages: 627-632

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 柔軟ゴムデバイスを用いた空気圧剛性可変フィンガの予測機能制御2012

    • Author(s)
      永瀬 純也,佐藤 俊之,脇元 修一,嵯峨 宣彦,鈴森 康一
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.48,No.8 Pages: 470-478

    • NAID

      10031007621

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] 空気圧バルーン型腱駆動アクチュエータのモデル予測制御2012

    • Author(s)
      永瀬 純也,佐藤 俊之,嵯峨 宣彦,鈴森 康一
    • Journal Title

      日本フルードパワーシステム学会論文集

      Volume: Vol.43, No.2 Pages: 30-38

    • NAID

      10030309955

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development and Control of a Multi-Fingered Robotic Hand Using a Pneumatic Tendon-driven Actuator2012

    • Author(s)
      Jun-ya NAGASE, Norihiko SAGA, Toshiyuki SATOH, Koichi SUZUMORI
    • Journal Title

      Journal of Intelligent Material Systems and Structures,Ait

      Volume: Vol.23, No.3 Pages: 339-346

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] 柔軟ゴムデバイスを用いた空気圧剛性可変フィンガの予測機能制御2012

    • Author(s)
      永瀬 純也, 佐藤 俊之, 脇元 修一,嵯峨 宣彦, 鈴森 康一
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.48 Pages: 470-478

    • NAID

      10031007621

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Development and Control of a Multi-Fingered Robotic Hand Using a Pneumatic Tendon-driven Actuator2012

    • Author(s)
      Jun-ya Nagase
    • Journal Title

      Journal of Intelligent Material Systems and Structures

      Volume: Vol.23 Pages: 339-346

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 空気圧バルーン型腱駆動アクチュエータのモデル予測制御2012

    • Author(s)
      永瀬 純也
    • Journal Title

      日本フルードパワーシステム学会論文集

      Volume: 第43巻 Pages: 30-38

    • NAID

      10030309955

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの開発2011

    • Author(s)
      永瀬純也,脇元修一,嵯峨宣彦,鈴森康一
    • Journal Title

      設計工学

      Volume: Vol.46, No.9 Pages: 41-47

    • NAID

      10029738100

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Design of variable-stiffness robotic hand using pneumatic soft rubber actuators2011

    • Author(s)
      Jun-ya Nagase, Shuichi Wakimoto, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori
    • Journal Title

      Smart Materials and Structures

      Volume: Vol.20, No.10 Issue: 10 Pages: 105015-105015

    • DOI

      10.1088/0964-1726/20/10/105015

    • NAID

      120004873428

    • Related Report
      2013 Final Research Report 2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの開発2011

    • Author(s)
      永瀬 純也
    • Journal Title

      設計工学

      Volume: Vol.46 Pages: 41-47

    • NAID

      10029738100

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Presentation] Comparison between PFC and PID Control System for Tendon-driven Balloon Actuator2013

    • Author(s)
      Jun-ya Nagase, Kazuki Hamada, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori
    • Organizer
      Proc. of the 39th Annual Conference of the IEEE Industrial Electronics Society(IECON2013)
    • Place of Presentation
      Vienna(Austlia)
    • Year and Date
      2013-11-13
    • Related Report
      2013 Final Research Report
  • [Presentation] Comparison between PFC and PID Control System for Tendon-driven Balloon Actuator2013

    • Author(s)
      Jun-ya Nagase, Kazuki Hamada, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori
    • Organizer
      39th Annual Conference of the IEEE Industrial Electronics Society(IECON2013)
    • Place of Presentation
      Vienna(Austria)
    • Related Report
      2013 Annual Research Report
  • [Presentation] Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator2012

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori
    • Organizer
      Proc. of The 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (Romansy 2012)
    • Place of Presentation
      Paris(France)
    • Year and Date
      2012-06-13
    • Related Report
      2013 Final Research Report
  • [Presentation] Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator2012

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori
    • Organizer
      Proc. of The 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control(Romansy2012)
    • Place of Presentation
      Paris(France)
    • Related Report
      2012 Research-status Report
  • [Presentation] 空気圧バルーンを用いた腱駆動フィンガの予測機能制御",第12回計測自動制御学会システムインテグレーション部門講演会2011

    • Author(s)
      永瀬 純也,佐藤 俊之,嵯峨 宣彦,鈴森 康一
    • Organizer
      京都府京都市
    • Place of Presentation
      京都府京都市
    • Year and Date
      2011-12-25
    • Related Report
      2013 Final Research Report
  • [Presentation] Predictive functional control of a finger using a pneumatic tendon-driven actuator2011

    • Author(s)
      Jun-ya Nagase, Toshiyuki Satoh, Shuichi Wakimoto, Norihiko Saga, Koichi Suzumori
    • Organizer
      Proc. of International Bionic Engineering Conference(BION2011)
    • Place of Presentation
      Boston(USA)
    • Year and Date
      2011-09-18
    • Related Report
      2013 Final Research Report
  • [Presentation] Predictive functional control of a finger using a pneumatic tendon-driven actuator2011

    • Author(s)
      Jun-ya Nagase
    • Organizer
      International Bionic Engineering Conference
    • Place of Presentation
      Westin Boston Waterfront Hotel, Boston(USA)
    • Related Report
      2011 Research-status Report
  • [Presentation] 空気圧バルーンを用いた腱駆動フィンガの予測機能制御2011

    • Author(s)
      永瀬 純也
    • Organizer
      第12回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      京都大学吉田キャンパス(京都府)
    • Related Report
      2011 Research-status Report
  • [Remarks] 研究室ホームページ

    • URL

      http://mec3342.mecsys.ryukoku.ac.jp/nagase/index.html

    • Related Report
      2013 Annual Research Report

URL: 

Published: 2011-08-05   Modified: 2019-07-29  

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