Development of the Master Hand for Grasping Information Capturing

Kazuyuki Nagata; Fuminori Saito; Takashi Suehiro

doi:10.20965/jrm.2008.p0018

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JRM Vol.20 No.1 pp. 18-23

doi: 10.20965/jrm.2008.p0018

(2008)

Paper:

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Development of the Master Hand for Grasping Information Capturing

Kazuyuki Nagata^*, Fuminori Saito^**, and Takashi Suehiro^*

^*Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan

^**Former member of National Institute of Advanced Industrial Science and Technology (AIST), (Currently at Toyota Motor Corporation)

Received:

October 25, 2006

Accepted:

February 1, 2007

Published:

February 20, 2008

Keywords:

robot hand, master hand, grasping information, six-axis force/torque sensor

Abstract

Analysis of human hand grasping operation provides information for developing robot hand grasping algorithms based on human knowledge and experience. Hand grasping analysis involves finger movement and contact force acting on the fingertips. We present a master hand put on a human hand to measure fingertip movement and contact force acting on the human fingertips. The master hand consists of serial links, six-axis force/torque sensors installed on the fingertips, a base, a glove, and an inclination sensor. We developed the master hand to clarify human grasping strategy. We collect data by having a subject act under the physical constraints as those of the robot hand. Obtained information is used to develop grasping algorithms for robot hands. Starting with a discussion of the concept behind master hand development, we detail the mechanism of the master hand and demonstrate its features.

Cite this article as:

K. Nagata, F. Saito, and T. Suehiro, “Development of the Master Hand for Grasping Information Capturing,” J. Robot. Mechatron., Vol.20 No.1, pp. 18-23, 2008.

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References

[1] T. Yamaguchi, Y. Saito, M. Ichimura, H. Yamauchi, S. Hitati, and Y. Yanagihara, “Study on Motions of Maniphalanx Joints,” Biomechanisms, Vol.4, Society of Biomechanisms Japan, pp. 89-96, 1978 (in Japanese).
[2] H. Hashimoto, M. Buss, Y. Kunii, and F. Harashima, “Intelligent Cooperative Manipulation System Using Dynamic Force Simulator,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2598-2603, 1994.
[3] R. N. Rohling and J.M. Hollerbach, “Optimized Fingertip Mapping for Teleoperation of Dexterous Robot Hands,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 769-775, 1993.
[4] R. N. Rohling and J. M. Hollerbach, “Modeling and Parameter Estimation of the Human Index Finger,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 223-230, 1993.
[5] S. Shimizu, K. Seki, M. Simojyo, and S. Sato, “Development of Sensor Glove MKIII for measuring grasping pressure distribution,” Proc. of the 14th Annual Conf. of the Robotics Society of Japan, pp. 1075-1076, 1996 (in Japanese).
[6] K. Nagata, T. Keino, and T. Omata, “Acquisition of an Object Model by Manipulation with a Multifingered Hand,” Transaction of the Society of Instrument and Control Engineers, Vol.34, No.10, pp. 1487-1493, 1998 (in Japanese).
[7] K. Nagata, M. Tsumura, and T. Omata, “Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing,” Journal of the Robotics Society of Japan, Vol.14, No.8, pp. 1221-1228, 1996 (in Japanese).
[8] Y. Ueba, “Hand –The Function and Anatomy–,” Kinpodo, pp. 50-61, 1970 (in Japanese).
[9] I. A. Kapandji, “Physiologie Articulaire, Tome I, Membrum Superius,” Ishiyaku Publishers, Inc., pp. 166-283, 1986 (in Japanese).
[10] K. Nagata, “Study on Manipulation by a Robot Hand and Contact Sensing,” Researches of the Electrotechnical Laboratory, No.993, 2000 (in Japanese).
[11] A. Bicchi, “Intrinsic Contact Sensing for Soft Fingers,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 968-973, 1990.
[12] K. Nagata, “Pose Estimation of a Grasped Object,” Journal of the Robotics Society of Japan, Vol.11, No.7, pp. 973-979, 1993 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Yamaguchi, Y. Saito, M. Ichimura, H. Yamauchi, S. Hitati, and Y. Yanagihara, “Study on Motions of Maniphalanx Joints,” Biomechanisms, Vol.4, Society of Biomechanisms Japan, pp. 89-96, 1978 (in Japanese).

[2] [2] H. Hashimoto, M. Buss, Y. Kunii, and F. Harashima, “Intelligent Cooperative Manipulation System Using Dynamic Force Simulator,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2598-2603, 1994.

[3] [3] R. N. Rohling and J.M. Hollerbach, “Optimized Fingertip Mapping for Teleoperation of Dexterous Robot Hands,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 769-775, 1993.

[4] [4] R. N. Rohling and J. M. Hollerbach, “Modeling and Parameter Estimation of the Human Index Finger,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 223-230, 1993.

[5] [5] S. Shimizu, K. Seki, M. Simojyo, and S. Sato, “Development of Sensor Glove MKIII for measuring grasping pressure distribution,” Proc. of the 14th Annual Conf. of the Robotics Society of Japan, pp. 1075-1076, 1996 (in Japanese).

[6] [6] K. Nagata, T. Keino, and T. Omata, “Acquisition of an Object Model by Manipulation with a Multifingered Hand,” Transaction of the Society of Instrument and Control Engineers, Vol.34, No.10, pp. 1487-1493, 1998 (in Japanese).

[7] [7] K. Nagata, M. Tsumura, and T. Omata, “Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing,” Journal of the Robotics Society of Japan, Vol.14, No.8, pp. 1221-1228, 1996 (in Japanese).

[8] [8] Y. Ueba, “Hand –The Function and Anatomy–,” Kinpodo, pp. 50-61, 1970 (in Japanese).

[9] [9] I. A. Kapandji, “Physiologie Articulaire, Tome I, Membrum Superius,” Ishiyaku Publishers, Inc., pp. 166-283, 1986 (in Japanese).

[10] [10] K. Nagata, “Study on Manipulation by a Robot Hand and Contact Sensing,” Researches of the Electrotechnical Laboratory, No.993, 2000 (in Japanese).

[11] [11] A. Bicchi, “Intrinsic Contact Sensing for Soft Fingers,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 968-973, 1990.

[12] [12] K. Nagata, “Pose Estimation of a Grasped Object,” Journal of the Robotics Society of Japan, Vol.11, No.7, pp. 973-979, 1993 (in Japanese).

Development of the Master Hand for Grasping Information Capturing

Kazuyuki Nagata*, Fuminori Saito**, and Takashi Suehiro*

Kazuyuki Nagata^*, Fuminori Saito^**, and Takashi Suehiro^*