Powerful and dexterous multi-finger hand using dynamical pulley mechanism
Tadaaki Hasegawa, Hironori Waita, Tomohiro Kawakami, Yoshinari Takemura, Tetsuya Ishikawa, Yuta Kimura, Chiaki Tanaka, Kenichiro Sugiyama
Abstract
A multi-fingered hand that can grasp and manipulate a variety of objects is an option for assisting people in their daily lives. However, the range of torque output that can be handled by the multi-fingered hand is very limited compared to the capability of the human hand. In this paper, we introduce a new multi-fingered hand consisting of a dynamic pulley and a linkage mechanism, aiming to achieve a human-like output torque with a human-like size. The proposed multi-fingered hand can achieve a fingertip force of 50N, which is equivalent to that of a human, and at the same time can perform delicate operations such as picking up a coin on a desk. In addition, we realized the stay-on-tab opening task of a can by utilizing fingertip strength.
BibTeX
@inproceedings{icra2022_powerfulanddexte,
title = {Powerful and dexterous multi-finger hand using dynamical pulley mechanism},
author = {Tadaaki Hasegawa and Hironori Waita and Tomohiro Kawakami and Yoshinari Takemura and Tetsuya Ishikawa and Yuta Kimura and Chiaki Tanaka and Kenichiro Sugiyama and Takahide Yoshiike},
booktitle = {ICRA 2022},
year = {2022}
}