Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism

Fukui, Wataru; Kobayashi, Fuminori; Kojim, Fumio

doi:10.5772/26599

Cited by 4 publications

(4 citation statements)

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“…Each junction should be designed keeping in mind some other connections, processes or technologies. An example of such electronic architecture is described in [9]. This paper reviews the direct connection of sensors to microcontrollers without using any analogue circuit (such as an amplifier or analogue-to-digital converter) in the signal path, thus resulting in a lowcost, lower-power sensor electronic interface.…”

Section: Electronicsmentioning

confidence: 99%

Automatic Nursing System With Stationary Sensors and Mobile Robotic Platform

Rannels¹,

Falconieri²,

Phillips³

et al. 2018

IJRTER

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ABSTACTThis paper presents the concept, structural design and implementation of components of a multifunctional sensory network, consisting of a Mobile Robotic Platform (MRP) and stationary multifunctional sensors, which are wirelessly communicating with the MRP. Each section provides the review of the principles of operation and the network components' practical implementation. The analysis is focused on the structure of the robotic platform, sensory network and electronics and on the methods of the environment monitoring and data processing algorithms that provide maximal reliability, flexibility and stable operability of the system. The main aim of this project is the development of the Robotic Nurse (RN)-a 24/7 robotic helper for the hospital nurse personnel. To support longlasting autonomic operation of the platform, all mechanical, electronic and photonic components were designed to provide minimal weight, size and power consumption, while still providing high operational efficiency, accuracy of measurements and adequateness of the sensor response. The stationary sensors serve as the remote "eyes, ears and noses" of the main MRP. After data acquisition, processing and analyzing, the robot activates the mobile platform or specific sensors and cameras. The cross-use of data received from sensors of different types provides high reliability of the system. The key RN capabilities are simultaneous monitoring of physical conditions of a large number of patients and alarming in case of an emergency. The robotic platform Nav-2 exploits innovative principles of any-direction motion with Omni-wheels, navigation and environment analysis. It includes an innovative mini-laser, the absorption spectrum analyzer and a portable, extremely high signalto-noise ratio spectrometer with twodimensional detector array.

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Section: Electronicsmentioning

confidence: 99%

Automatic Nursing System With Stationary Sensors and Mobile Robotic Platform

Rannels¹,

Falconieri²,

Phillips³

et al. 2018

IJRTER

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“…This robot hand is equipped with the six-axis force sensors and the array-type tactile sensors. We have also developed the universal robot hand I [8] and II [9]. The universal robot hand II has five fingers with 20 joints, the array-type tactile sensors, and the multi-axis force/torque sensors.…”

Section: Introductionmentioning

confidence: 99%

Vision based grasping system with universal jamming hand

Kobayashi

Ueno

Nakamoto

et al. 2015

2015 10th Asian Control Conference (ASCC)

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End effectors are a key component for a robotic manipulator in order to manipulate object stably. The universal jamming grippers can hold a wide variety of arbitrarily shaped objects. The jamming grippers consists on a single mass of granular material wrapped in an elastic membrane, and a vacuum pump. The paper deals with a vision based grasping system with two universal jamming grippers. Here, we make the universal jamming grippers and clarify the performance experimentally. The system recognizes objects by a vision component and picks up the specific object by the universal jamming hand without arrangement of the grasping posture.

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“…Many other robot hands have been developed and researched all over the world [4], [5]. We have also developed the universal robot hand I [6] and II [7]. The universal robot hand II has five fingers with 20 joints, the array-type tactile sensors, and the multi-axis force/torque sensors.…”

Section: Introductionmentioning

confidence: 99%

Slip based pick-and-place by universal robot hand with force/torque sensors

Kobayashi

Kanno

Nakamoto

et al. 2014

2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space (RiiSS)

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A multi-fingered robot hand receives much attention in various fields. We have developed the multi-fingered robot hand with the multi-axis force/torque sensors. For stable transportation, the robot hand must pick up an object without dropping it and places it without damaging it. This paper deals with a pick-and-place motion by the developed robot hand. In this motion, the robot hand detects a slip by using the multi-axis force/torque sensors and implements the pick-and-place motion according to the detected slip. The effectiveness of the proposed grasp selection is verified through some experiments with the universal robot hand.

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Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism

Cited by 4 publications

References 0 publications

Automatic Nursing System With Stationary Sensors and Mobile Robotic Platform

Automatic Nursing System With Stationary Sensors and Mobile Robotic Platform

Vision based grasping system with universal jamming hand

Slip based pick-and-place by universal robot hand with force/torque sensors

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