Development of balloon-driven robotic hand using pneumatic variable-stiffness finger

使用气动变刚度手指开发气球驱动机械手

• 批准号: 23760246
• 负责人: NAGASE Junya
• 金额: $ 2.5万
• 依托单位: Ryukoku University (2012-2013)Kwansei Gakuin University (2011)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23760246/
• 关键词: 剛性可変; ロボットハンド; 予測機能制御; ソフトメカニズム; バルーン; 力制御; 角度制御; 表面剛性; 腱駆動

Robots that are designed for use in the fields of medical care and welfare must be safe for the human environment because they often come into contact with humans. Furthermore, robots must have dexterity that is similar to that of humans. Under these circumstances, we have developed a robot hand using tendon-driven system, which is lightweight, flexibility and has the same degree of freedom as biological human hands. Moreover, we have devised a robot hand with pneumatic stiffness change finger that can be changed surface stiffness by changing input pressure. And, the stiffness-changeable finger is able to control the grasping force easily by predictive functional control.

设计用于医疗和福利领域的机器人必须对人类环境安全，因为它们经常与人类接触。此外，机器人必须具有与人类相似的灵活性。在这种情况下，我们开发了一种采用肌腱驱动系统的机器人手，它具有重量轻、灵活性好、自由度与生物人手相同的特点。此外，我们还设计了一个气动变刚度手指的机器人手，它可以通过改变输入压力来改变表面刚度。并且，变刚度手指能够通过预测函数控制轻松控制抓取力。

项目成果

Predictive Functional Control of Tendon-driven Actuator using Pneumatic Balloon

使用气动球囊的肌腱驱动执行器的预测功能控制

• 发表时间: 2013
• 期刊: Journal of Advanced Mechanical Design, Systems, and Manufacturing
• 作者: Jun-ya Nagase;Toshiyuki Satoh;Norihiko Saga and KoichiSuzumori
• 通讯作者: Norihiko Saga and KoichiSuzumori

空気圧バルーン型腱駆動アクチュエータのモデル予測制御

气动气球式腱驱动执行器的模型预测控制

• 发表时间: 2012
• 期刊: 日本フルードパワーシステム学会論文集
• 作者: Jun-ya Nagase;Toshiyuki Satoh;Norihiko Saga and Koichi Suzumori;永瀬 純也,佐藤 俊之,脇元 修一,嵯峨 宣彦,鈴森 康一;永瀬 純也,佐藤 俊之,嵯峨 宣彦,鈴森 康一
• 通讯作者: 永瀬 純也,佐藤 俊之,嵯峨 宣彦,鈴森 康一

Predictive Functional Control with Disturbance Observer for Tendon-driven Balloon Actuator

肌腱驱动气球致动器的干扰观测器预测功能控制

• 发表时间: 2013
• 期刊: International Journal of Computer, Information Science and Engineering
• 作者: Jun-ya Nagase;Toshiyuki Satoh;Norihiko Saga and Koichi Suzumori
• 通讯作者: Norihiko Saga and Koichi Suzumori

Predictive functional control of a finger using a pneumatic tendon-driven actuator

使用气动腱驱动执行器对手指进行预测功能控制

• 发表时间: 2011
• 作者: Jun-ya Nagase;Toshiyuki Satoh;Shuichi Wakimoto;Norihiko Saga;Koichi Suzumori
• 通讯作者: Koichi Suzumori

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