Design and Development of Five-fingered Hands for a Humanoid Emotion Expression Robot.
ABSTRACT Among social infrastructure technologies, Robot Technology (RT) is expected to play an important role in solving the problems of the aging society. New generations of personal robots are expected to be capable of assisting humans in a variety of contexts and thus of interacting and communicating with them effectively and even in a friendly and natural way. Expressing human-like emotions is an important capability to this aim. The objectives of this work are the design and development of two five-fingered robotic hands for a humanoid upper body able to generate and express emotions. The specific design goals have been grasping and expression of emotions through hand gestures, as a complement to facial expression of emotions. The paper presents the design process of the robotic hands, named RCH-1 (Robocasa Hand No. 1), starting from the requirements deriving from their use in grasping and gestures. The resulting robotic hands are described in detail, together with the hand sensory systems. Experimental trials are then presented, aimed at assessing the hand performance and at validating their effectiveness in grasping and emotion expression, when mounted on the emotion expression humanoid robot WE-4R (Waseda Eye No. 4 Refined).
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ABSTRACT: AbstractA centenary tribute is paid to a soldier and sportsman, surveyor and inventor, artist and humorist. Vivian Thompson served in two wars, the second of which resulted in his untimely death. His Stereo-plotter, first described to the Royal Geographical Society in 1908, remains as a memorial and as a reminder of a great opportunity which was lost.RésuméHommage est rendu à un soldat, à un sportsman, géomètre, inventeur et à un artiste plein d'humour. Vivian Thompson participa à deux guerres, dont la dernière n'est pas sans relation avec sa mort. Son restituteur, décrit à la Royal Geographical Society en 1908, reste comme un témoin d'une grande occasion perdue.ZusammenfassungEs erfolgt eine einhundertjährige Würdigung für einen Soldaten und Sportler, Geodäten und Erfinder, Künstler und Humoristen. Vivian Thompson diente in 2 Kriegen, wobei er bedauerlicherweise im letzten einen vor-zeitigen Tod fand. Sein im Jahre 1908 zum ersten Male in der Royal Geographical Society beschriebenes Stereokartiergerät bleibt als ein Denkmal erhalten und erinnert an eine grosse Möglichkeit, die verschenkt wurde.The Photogrammetric Record 08/2006; 10(55):5 - 38. · 1.38 Impact Factor
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ABSTRACT: This paper presents a lightweight (328 g) anthropomorphic robot hand that can exert a large grasping force. We propose a mechanism combining flexion drives and a force-magnification drive for a cable-driven multifingered robot hand. The flexion drive consisting of a feed screw enables quick finger motion, and the force-magnification drive, consisting of an eccentric cam, a bearing, and a pulley, enables a firm grasp. This paper also proposes a 3-D linkage for the thumb. This linkage consists of four links and is driven by a feed screw. It can oppose to a large force exerted by the force-magnification drive. These mechanisms are compact enough to be installed in the developed lightweight hand. We experimentally verify that the maximum fingertip force of the hand exceeds 20 N and that the thumb can hold a large force of 100 N. The time to fully close the hand using the flexion drives is 0.47 s. After the fingers make contact with an object, the time to achieve a firm grasp using the grasp-magnification drive is approximately 1 s.IEEE/ASME Transactions on Mechatronics 07/2011; · 3.65 Impact Factor