Development of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism

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: 7Language: englishTyp: PDF

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Takeuchi, Hiroki; Watanabe, Tetsuyou (Graduate School of Natural Science & Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, 920-1192, Japan)

This paper develops a multi-fingered robot hand with skin mechanism enabling softness change. We show how the softness of the skin affects grasping and manipulation. Elastic skin provides stable grasping while precise manipulation is lost. Hard skin provides precise manipulation while stability of grasp is lost. We will try to change the softness of the skin according to situation, object, and so on. In this paper, we develop a novel human like robot hand with softness-changeable skin mechanism.