By Topic

Design and realization of fingertiped and multifingered hand for pinching and rolling minute objects

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Kobayashi, K. ; Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo, Japan ; Ito, N. ; Mizuuchi, I. ; Okada, K.
more authors

The fingertips and fingerpads are very important organs in human hand for handling minute objects, for example, picking up, carrying and rolling them. Therefore, imitating the advantages of these organs can lead robot hand to improving dexterity of the finger operations. In this paper, dexterity of pinching and rolling the minute objects is brought by explicit designing of the tip part of fingers and the tactile sensors by pressure conductive gum on fingerpads. Finally, we actually show tasks of pinching up and rolling minute bolt and small plug by new fingertiped and multifingered hand.

Published in:

Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on

Date of Conference:

7-10 Dec. 2009