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| Presentation | 2010-01-28 14:25 Control of pneumatic five-fingered robot hand using antagonistic muscle ratio and antagonistic muscle activity Yuki Honda, Atsushi Nishikawa, Fumio Miyazaki (Osaka Univ.)  MBE2009-84 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Recently, research into robots that coexist with people in areas such as the service and medical industries is active. Such robots need both safety and flexibility. To satisfy this demand, a pneumatic actuator is appropriate because it has natural compliance and is lightweight. Our research focuses on a five-fingered robot hand using low-pressure driven pneumatic actuators. This robot imitates the structure of the human hand, which has antagonistic muscle pairs for each joint. We proposed a control method using the following parameters: "antagonistic muscle ratio" and "antagonistic muscle activity", and implemented the proposed method in a five-fingered robot hand. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | pneumatic actuator / five-fingered robot hand / muscle synergies / antagonistic muscle / articular angle control / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 109, no. 406, MBE2009-84, pp. 37-41, Jan. 2010. | |
| Paper # | MBE2009-84 | |
| Date of Issue | 2010-01-21 (MBE) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | MBE2009-84 |
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| Conference Information | |
| Committee | MBE |
| Conference Date | 2010-01-28 - 2010-01-29 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kumamoto Univ. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | ME in general |
| Paper Information | |
| Registration To | MBE |
| Conference Code | 2010-01-MBE |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control of pneumatic five-fingered robot hand using antagonistic muscle ratio and antagonistic muscle activity |
| Sub Title (in English) | |
| Keyword(1) | pneumatic actuator |
| Keyword(2) | five-fingered robot hand |
| Keyword(3) | muscle synergies |
| Keyword(4) | antagonistic muscle |
| Keyword(5) | articular angle control |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Yuki Honda |
| 1st Author's Affiliation | Osaka University (Osaka Univ.) |
| 2nd Author's Name | Atsushi Nishikawa |
| 2nd Author's Affiliation | Osaka University (Osaka Univ.) |
| 3rd Author's Name | Fumio Miyazaki |
| 3rd Author's Affiliation | Osaka University (Osaka Univ.) |
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| Speaker | Author-1 |
| Date Time | 2010-01-28 14:25:00 |
| Presentation Time | 25 minutes |
| Registration for | MBE |
| Paper # | MBE2009-84 |
| Volume (vol) | vol.109 |
| Number (no) | no.406 |
| Page | pp.37-41 |
| #Pages | 5 |
| Date of Issue | 2010-01-21 (MBE) |
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