Cart (Loading....) | Create Account
Close category search window
 

Robot Finger Module With Multidirectional Adjustable Joint Stiffness

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

2 Author(s)
Kajikawa, S. ; Dept. of Mech. Eng. & Intel- ligent Syst., Tohoku Gakuin Univ., Tagajo, Japan ; Abe, K.

This paper describes a novel finger mechanism that enables a robot to perform a gentle and dexterous motion. This finger contains three joints, in which the proximal (PIP) and distal intraphalangeal (DIP) joints are coupled rigidly, and the metacarpophalangeal (MP) joint has a multidirectional passive compliance that is adjustable as in humans. In the MP joint, two kinds of silicone-rubber cushions (A-SRC and B-SRC) are placed between a motor-driven disk and an output link. A-SRC plays three roles: 1) transmission of the rotational motion from the motor to the output link by the friction force between the surface of A-SRC and the motor-driven disk; 2) absorption of external forces from multiple directions by its elastic deformation; and 3) sensing the directions and magnitudes of external forces with the change in inside pressure. B-SRC adjusts the characteristics of joint compliance by pressing A-SRC against the motor-driven disk. We investigate the basic performance of this finger module through several experiments.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:17 ,  Issue: 1 )

Date of Publication:

Feb. 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.