Abstract
This paper introduces a newly developed high-speed multifingered robotic hand. The hand has an eight-axis and 3-fingers. A newly developed small harmonic drive gear and a high-power mini actuators are equipped in each finger link. Also, a strain gauge sensor is equipped in each joint. The weight of the hand module is only 0.8kg, but high-speed motion and high-power grasp are possible. It can close the joints at 180deg/0.1s, and the fingertips can output force of about 28N. The hand system are controlled by a massively parallel vision system.
Cite
CITATION STYLE
Namiki, A., Ishikawa, M., Kaneko, M., Kameda, H., & Koyama, J. (2003). Development of a Lightweight High-speed Multifingered Hand. The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), 2003(0), 41. https://doi.org/10.1299/jsmermd.2003.41_3
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