Gripping force measurement for robot hand with soft cover

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A1-J09
Author(s):  
Yohei TAKEDA ◽  
Kentaro NODA ◽  
Takuya TSUKAGOSHI ◽  
Takumi TAMAMOTO ◽  
Ken’ichi KOYANAGI ◽  
...  
Keyword(s):  
Force Measurement ◽  
Robot Hand ◽  
Gripping Force

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1090-1103 ◽  
Author(s):  
Mitsunori Uemura ◽  
Yuki Mitabe ◽  
Sadao Kawamura
Keyword(s):  
Gear Ratio ◽  
Robot Hand ◽  
Compensation Mechanism ◽  
Robot Arm ◽  
Unstructured Environments ◽  
Gravitational Torque ◽  
Gripping Force ◽  
Force Compensation

SummaryIn this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

Estimation of the Slip Motion by the Force Measurement with Multi-Fingered Robot Hand

2002 ◽  
Vol 35 (2) ◽  
pp. 675-680
Author(s):  
Yasuhisa Hasegawa ◽  
Hayato Ioka ◽  
Toshio Fukuda
Keyword(s):  
Force Measurement ◽  
Robot Hand ◽  
Slip Motion

scholarly journals Design of robot finger based on flexible tactile sensor

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987985 ◽  
Author(s):  
Zhijie Tang ◽  
Zhen Wang ◽  
Jiaqi Lu ◽  
Gaoqian Ma
Keyword(s):  
Control System ◽  
Silicone Rubber ◽  
Processing System ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Feedback Data ◽  
Gripping Force ◽  
Conductive Silicone Rubber ◽  
Hysteresis Characteristics ◽  
Dexterous Robot Hand

In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.

Three-Fingered Robot Hand with Gripping Force Generating Mechanism Using Small Gas Springs - Mechanical Design and Basic Experiments –

2019 ◽  
Vol 31 (1) ◽  
pp. 118-134 ◽  
Author(s):  
Junya Tanaka ◽  
Keyword(s):  
Power Supply ◽  
Mechanical Design ◽  
Robot Hand ◽  
Single Motor ◽  
Feed Screw ◽  
Screw Mechanism ◽  
Gripping Force ◽  
Basic Experiments ◽  
Flexion And Extension

This paper presents the mechanical design of a new three-fingered robot hand for a robot designed to handle tableware. The finger mechanism has three joints and consists of a pair of fourbar linkage mechanisms, one small gas spring, and one feed screw mechanism. As the feed screw moves, the finger mechanism performs flexion and extension operations with its joints interlocked. The gas spring generates gripping force, which is adjusted at the position of the moving part moved by the feed screw. Therefore, the three-fingered robot hand can open and close synchronously, powered by a single motor in the base of the hand. The hand grips with mechanical flexibility. In addition, it can maintain its grip with no power supply. Tests show that the hand can successfully perform the movements required to grasp various kinds of tableware.

GRIP FORCE MEASUREMENT OF SOFT- ACTUATED FINGER EXOSKELETON

2016 ◽  
Vol 78 (6-13) ◽  
Author(s):  
I. N. A. M. Nordin ◽  
A. A. M. Faudzi ◽  
M. Z. Kamarudin ◽  
Dyah Ekashanti Octorina Dewi ◽  
Tariq Rehman ◽  
...  
Keyword(s):  
Grip Force ◽  
Force Measurement ◽  
Hand Function ◽  
Motion Path ◽  
Operating Pressure ◽  
Left Hand ◽  
Hand Dynamometer ◽  
Good Potential ◽  
Soft Actuators ◽  
Gripping Force

Over recent years, the reseach in the field of soft actuation has been extensively increased for achieving more complex motion path with smooth, high flexible movement and high generated force at minimum operating pressure. This paper presents the study on gripping force capability of soft actuators applied on glove-type finger exoskeleton, developed in motivation to assist individuals having weak finger gripping ability in their rehabilitation exercise towards hand function restoration. The exoskeleton utilizes five cylindrical shaped pneumatic bending actuators developed in the lab, which use fiber reinforcement as a cause of bending motion that drive finger’s flexion movement. Four right-handed healthy volunteers simulated paralysis participated in the study. At 200kPa safe operating pressure, the soft exoskeleton worn by the subjects demonstrates the ability to provide adequate grip force. The grip force generated from exoskeleton worn on passive right hand is 4.66 ± 0.2 N and 3.61± 0.2 N from passive left hand, both higher than the minimum grip forces measured to hold the Hand Dynamometer of 240 g. It shows good potential to be used as a finger rehabilitation assist device. 

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