2013 Fiscal Year Final Research Report
Development of balloon-driven robotic hand using pneumatic variable-stiffness finger
| Project/Area Number |
23760246
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ryukoku University (2012-2013)
Kwansei Gakuin University (2011) |
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Principal Investigator |
NAGASE Junya 龍谷大学, 理工学部, 助教 (70582245)
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| Project Period (FY) |
2011 – 2013
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| 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 |
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| 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.
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