title: Development of robot hand with pneumatic actuator and construct of master-slave system.
abstract: Recently, research has concentrated on robots that can coexist with people and be of use to them. Such a robot needs to be both safe and flexible. Here, we use a pneumatic actuator as the driving source of a robot hand. We develop a pneumatic actuator driven by low pressure because we consider that the conventional pneumatic actuator is inadequate for the driving source of a robot hand. First, we examine the characteristics of our new pneumatic actuator. Next, we develop a five-fingered robot hand using this pneumatic actuator. The robot hand produced is both safe and flexible. We construct a master-slave system to enable the robot hand to perform the same operations as a human hand. Next, we make a joint model that has one degree of freedom using a pneumatic actuator. We construct a control system for the joint model and verify its control performance.
authors.affiliation: Department of Mechanical Engineering, Doshisha University, Kyotanabe, Kyoto 610-0321 Japan.
authors.forename: Shinya
authors.initials: S
authors.lastname: Nishino
authors.forename: Nobutaka
authors.initials: N
authors.lastname: Tsujiuchi
authors.forename: Takayuki
authors.initials: T
authors.lastname: Koizumi
authors.forename: Hiroyuki
authors.initials: H
authors.lastname: Komatsubara
authors.forename: Tatuwo
authors.initials: T
authors.lastname: Kudawara
authors.forename: Mikio
authors.initials: M
authors.lastname: Shimizu
mesh_terms: D032701:Biomimetics / Q000295:instrumentation* / Q000379:methods; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D006225:Hand / Q000502:physiology*; D006801:Humans; D008954:Models, Biological; D009989:Orthotic Devices; D011312:Pressure; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013314:Stress, Mechanical; D014159:Transducers