학술논문
Proposal of Robot Hand using Closed Link Mechanism / 閉リンク機構を有したロボットハンドの提案
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022, :1-T02
Subject
Language
Japanese
ISSN
2424-3124
Abstract
In this research, we propose a robot hand using a closed link mechanism. The proposed robot hand (HSCR-HA) is used for communication with the deaf. The HSCR-HA has the closed link mechanism, which enables bending and stretching of fingers by wires and springs. Response characteristics of joint angles of fingers were experimentally evaluated. From the experimental results, The each settling time of each joint angles of index finger was 247 ms for the first joint (DIP joint), 238 ms for the second joint (PIP joint), and 175 ms for the third joint (MP joint). In addition, the effect of the hand direction is negligible for use as communication with the deaf.