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2010 Fiscal Year Final Research Report

Artificial hand using double planetary gear system and its object handling

Research Project

  • PDF
Project/Area Number 20560242
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokai University

Principal Investigator

KOGANEZAWA Koichi  Tokai University, 工学部, 教授 (10178246)

Project Period (FY) 2008 – 2010
Keywords人工指 / 複合遊星歯車 / 本質的安全設計 / バックドライバビリティ
Research Abstract

The research aims at developing an artificial finger using the double planetary gear system (DPGS) that has originally developed in the previous study. It enables us to grip unknown ?shape objects with no-sensory feedback and also to pinch and handle an object dexterously. During the research period, we brushed up in some mechanical and structural parts, and achieved to make the prime mover part portable and light-weight. Experimental achievements with two fingers showed it can some dexterous handling with tremendous simple control.

  • Research Products

    (6 results)

All 2011 2010 Other

All Journal Article (3 results) (of which Peer Reviewed: 3 results) Presentation (2 results) Remarks (1 results)

  • [Journal Article] 非線形弾性要素を有するアクチュエータ(ANLES)を用いた拮抗駆動型関節の剛性および姿勢制御2011

    • Author(s)
      山下裕,小金澤鋼一
    • Journal Title

      日本ロボット学会誌 Vol.29, No.2

      Pages: 192-200

    • Peer Reviewed
  • [Journal Article] Back-drivable and Inherently Safe Mechanism for Artificial Finger2010

    • Author(s)
      小金澤鋼一
    • Journal Title

      Proceedings of Robotics : Science and Systems

    • Peer Reviewed
  • [Journal Article] Three DOF Wrist Joint-Control of Joint Stiffness and Angle-2010

    • Author(s)
      小金澤鋼一, 山下裕
    • Journal Title

      Proceedings of IEEE International Symposium on Industrial Electronics

      Pages: 1973-1979

    • Peer Reviewed
  • [Presentation] 複合遊星歯車を用いたロボットフィンガーの開発2010

    • Author(s)
      功刀望,新倉諒,小金澤鋼一
    • Organizer
      第28回日本ロボット学会学術講演会
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2010-09-23
  • [Presentation] 遊星歯車を用いた人工指の把持力制御2010

    • Author(s)
      吉岡雅也,濱本玲於奈,小金澤鋼一
    • Organizer
      第28回日本ロボット学会学術講演会
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2010-09-22
  • [Remarks] ホームページ等

    • URL

      http://ns.mech.u-tokai.ac.jp/~koganezawa_lab/

URL: 

Published: 2012-01-26   Modified: 2016-04-21  

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