SEA-based Robot Hand
Research Background
For service robots to effectively aid humans, a robot hand which can handle various objects is required.
Capabilities of controlling the contact force and providing compliant motion (collision safety) are essential.
Force/torque sensors for force control are generally expensive.
<Fingertip force control> <Collision safety> <Stable grasp>
Research Objectives
Development of a low cost robot hand without a force/torque sensor which provides force control and compliant grasp
Development of a small-sized Series Elastic Actuator (SEA) module with simple structure.
<Series Elastic Actuator> (MIT, 1995) <Designed SEA module>
Research Output
Control of fingertip force using SEA mechanism.
Provide collision safety and stable grasp.
<3D model of robot hand> <Specification of designed robot hand>
Grasping objects
Baseball
Paper box
Computer mouse