Development of a low cost anthropomorphic robot hand with high capability

This paper presents a development of an anthropomorphic robot hand, `KITECH Hand' that has 4 full-actuated fingers. Most robot hands have small size simultaneously many joints as compared with robot manipulators. Components of actuator, gear, and sensors used for building robots are not small a...

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Bibliographic Details
Main Authors: Ji-Hun Bae, Sung-Woo Park, Jae-Han Park, Moon-Hong Baeg, Doik Kim, Sang-Rok Oh
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Force
Grasping
Joints
Robot sensing systems
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Summary:This paper presents a development of an anthropomorphic robot hand, `KITECH Hand' that has 4 full-actuated fingers. Most robot hands have small size simultaneously many joints as compared with robot manipulators. Components of actuator, gear, and sensors used for building robots are not small and are expensive, and those make it difficult to build a small sized robot hand. Differently from conventional development of robot hands, KITECH hand adopts a RC servo module that is cheap, easily obtainable, and easy to handle. The RC servo module that have been already used for several small sized humanoid can be new solution of building small sized robot hand with many joints. The feasibility of KITECH hand in object manipulation is shown through various experimental results. It is verified that the modified RC servo module is one of effective solutions in the development of a robot hand.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6386063