This paper presents a gripper module for a snakelike robot to perform search and rescue tasks in a narrow space. The proposed gripper module has three features: (1) It can accommodate the fingers inside its body. (2) It has three fingers that can grip objects with irregular surfaces stably. (3) One of the fingers is equipped with a camera on the fingertip to search in a narrow space. To implement the above features in a small, light, and compact gripper module, we propose a novel design of a gripper module with three fingers and eight degrees of freedom. The joint configuration of the proposed gripper is unique compared with a general-type gripper. A prototype of the proposed gripper module has been integrated into a snake-like robot to demonstrate its capability of performing rescue tasks in a collapsed environment. The three features of the proposed gripper module are experimentally verified: it is light (0.4kg), small (less than 68mm in diameter), and powerful (grasping force = 2.48kgf).

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The frequent occurrence of disasters has prompted the development of efficient disaster-responding equipment. This study deals with the design of special-purpose machinery and its performance assessment. We defined scenarios through the environmental analysis of disaster situations and expert consulting. We also formulated a set of design specifications by analyzing the objectives of the tasks that must be performed at disaster sites, based on simulated scenarios and existing disaster response machinery. The disaster-responding special-purpose machinery was designed to perform various tasks and display rapid movement in disaster situations. Moreover, this paper presents the control structure configured to operate the developed machinery. The performance of the special-purpose machinery was assessed through different scenario tests.

Teleoperation, in which humans and robots work together to improve work performance, is growing explosively. However, the work performance of teleoperation is not yet excellent. Master–slave systems with different kinematics and workspaces need space-transformation control techniques. These techniques cause psychological fatigue to an operator with poor manipulation skills. In this study, we propose an intuitive master design that focuses on fatigue. Large workspaces reduce mental fatigue; however, they lead to physical fatigue problems. To solve this problem, we reflect the role of actuators in the design, through functional separation using movement and gravity compensation. This study proposes the design and prototype fabrication of an intuitive master K-handler to improve remote-work performance. The K-handler features six degrees of freedom (DoF), an anthropomorphic structure, and a lightweight nature. It has a reach long enough to cover the workspace of the human arm to reduce mental fatigue. In addition, gravity compensation, which can reduce the operator’s physical fatigue during operation, is possible in all workspace areas.