Powerful and dexterous multi-finger hand using dynamical pulley mechanism

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 introduc...

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Bibliographic Details
Published in2022 International Conference on Robotics and Automation (ICRA) pp. 707 - 713
Main Authors Hasegawa, Tadaaki, Waita, Hironori, Kawakami, Tomohiro, Takemura, Yoshinari, Ishikawa, Tetsuya, Kimura, Yuta, Tanaka, Chiaki, Sugiyama, Kenichiro, Yoshiike, Takahide
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.05.2022
Subjects
Force
Friction
Grasping
Pulleys
Reinforcement learning
Torque
Wires
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Summary: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.
DOI:10.1109/ICRA46639.2022.9812112