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, 2002Accepted:January 20, 2003Published:April 20, 2003
Keywords:robot hand, human life support, pneumatics, soft actuator, soft sensor
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.Data files:
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