A Five Fingered Robotic Hand Prototype by using Twist Drive
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 6Language: englishTyp: PDF
Personal VDE Members are entitled to a 10% discount on this title
Authors:
Godler, Ivan (Department of Information and Media Engineering, University of Kitakyushu, Japan)
Sonoda, Takashi (Fukuoka Industry, Science & Technology Foundation, Japan)
Abstract:
A newly proposed drive mechanism for robot’s joints based on a principle of twisted strings was developed and is used to power the joints of a five fingered robotic hand. The proposed mechanism is named Twist Drive because it generates a pulling force by twisting two flexible strings on each other. Properties of the mechanism are presented in the paper and application to a five fingered robotic hand is demonstrated. Low-cost, lightweight, and muscle-like operation are the main characteristics of the proposed drive and is therefore beneficial in production of a light-weight, human size robotic hand that can be used in robotics as well as in prosthetics. A prototype of five fingered robotic hand is presented, and its mechanical and control systems are explained.