Development of Pneumatic Soft Robot Hand for Human Friendly Robot

Daisuke Sasaki; Toshiro Noritsugu; Masahiro Takaiwa

doi:10.20965/jrm.2003.p0164

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JRM Vol.15 No.2 pp. 164-171

doi: 10.20965/jrm.2003.p0164

(2003)

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Development of Pneumatic Soft Robot Hand for Human Friendly Robot

Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa

Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama, 700-8530 Japan

Received:

November 1, 2002

Accepted:

January 20, 2003

Published:

April 20, 2003

Keywords:

robot hand, human life support, pneumatics, soft actuator, soft sensor

Abstract

When robots interact directly with humans, safety becomes a major consideration. The purpose of this study is to realize a safe humanlike robot hand for a human-friendly robot. The structure of the soft hand is described, its basic operation shown, and wipe motion for a human arm using this hand examined. Finally, a method of force communication task is proposed, which controls mutual communication based on the operating force between a robot and a human. This method is applied to their shaking hands.

Cite this article as:

D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Pneumatic Soft Robot Hand for Human Friendly Robot,” J. Robot. Mechatron., Vol.15, No.2, pp. 164-171, 2003.

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