Soft finger-joint mechanism for human-care service robot

Shinya Kajikawa

doi:10.1117/12.669398

2 May 2006 Soft finger-joint mechanism for human-care service robot

Shinya Kajikawa

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423A (2006) https://doi.org/10.1117/12.669398
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

In this paper, we propose a soft finger-joint mechanism that gives a robot mult-directional passive compliance and the ability of the estimation of external torque. In this joint, we utilize silicone gum cushions as elestic elements to transmit motion from an actuator to an output link. The cusion contributes to both the generation of passive compliant motion for external torque and the estimation of the external torque. Based on the proposed mechanism, we developed the metacarpal-phalangeal joint (MP joint) of the finger of a robot for human-care services. In addition, it is confirmed in several experiments that the proposed mechanism exhibits the expected characteristics.

Citation Download Citation

Shinya Kajikawa "Soft finger-joint mechanism for human-care service robot", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423A (2 May 2006); https://doi.org/10.1117/12.669398

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