A37 低圧駆動型空気圧アクチュエータを用いたロボットハンドの開発(OS4-1 制御用センサ・アクチュエータ)

概要

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This paper presents a nonmetallic and light robot finger using low-pressure driven pneumatic actuators developed by us. Recently, there is much robot research into coexistence with people and helping them. Such robots must be considered safe for contact with people. The drive system of our proposed robot hand uses low-pressure driven pneumatic actuators originally developed in consideration of safety for human contact. The results of the characteristics of the pneumatic actuator proved that it is possible to drive die robot hand and get enough generated force to grasp objects by lower inner pressure and lower air volume. Therefore, a model fee same size as a human hand can be made without a big air compressor, and applications for prosthetic hands are considered.
社団法人日本機械学会の論文
2005-08-22