- Research Background
- For service robots to effectively aid humans, a robot hand which can handle various objects is required.
- Capabilities of controlling the contact force and providing compliant motion (collision safety) are essential.
- Force/torque sensors for force control are generally expensive.
<Fingertip force control> <Collision safety> <Stable grasp>
- Research Objectives
- Development of a low cost robot hand without a force/torque sensor which provides force control and compliant grasp
- Development of a small-sized Series Elastic Actuator (SEA) module with simple structure.
<Series Elastic Actuator> (MIT, 1995) <Designed SEA module>
- Research Output
- Control of fingertip force using SEA mechanism.
- Provide collision safety and stable grasp.
<3D model of robot hand> <Specification of designed robot hand>