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
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.
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Copyright© 2003 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.