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Paper Abstract and Keywords
Presentation 2013-03-14 11:30
Artificial Hand Based on the Planetary Gear System -- Realization of Daily Utility Motion of a Hand with Minimum Actuators --
Koichi Koganezawa (Tokai Univ.) HIP2012-92
Abstract (in Japanese) (See Japanese page) 
(in English) The authors have developed a finger mechanism based on a planetary gear system so far; subsequently they compounded it into an artificial hand with five fingers. It takes an all-in-one design; all of the actuators (total four DC motors) are embedded into a palm, while finger parts do not have any electronic devices for attaining to be inherently safe as an end-effector. The original finger mechanism (pat. No 4933805) allows us synergic motions of three joints of a finger (MP, PIP and DIP) according to shape of gripping objects. Driving tests show that it achieves fundamental motions of a human hand in daily life without any sensory feedback.
Keyword (in Japanese) (See Japanese page) 
(in English) five-fingers hand / all-in-one design / planetary gear system / synergy motion / / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 483, HIP2012-92, pp. 87-92, March 2013.
Paper # HIP2012-92 
Date of Issue 2013-03-06 (HIP) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
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)
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Conference Information
Committee HIP  
Conference Date 2013-03-13 - 2013-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) okinawa-sangyoushien center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Haptics, Hand, etc. 
Paper Information
Registration To HIP 
Conference Code 2013-03-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Artificial Hand Based on the Planetary Gear System 
Sub Title (in English) Realization of Daily Utility Motion of a Hand with Minimum Actuators 
Keyword(1) five-fingers hand  
Keyword(2) all-in-one design  
Keyword(3) planetary gear system  
Keyword(4) synergy motion  
1st Author's Name Koichi Koganezawa  
1st Author's Affiliation Tokai University (Tokai Univ.)
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Date Time 2013-03-14 11:30:00 
Presentation Time 20 
Registration for HIP 
Paper # IEICE-HIP2012-92 
Volume (vol) IEICE-112 
Number (no) no.483 
Page pp.87-92 
#Pages IEICE-6 
Date of Issue IEICE-HIP-2013-03-06 

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