| Presentation | 2010-01-28 Control of pneumatic five-fingered robot hand using antagonistic muscle ratio and antagonistic muscle activity Yuki HONDA, Atsushi NISHIKAWA, Fumio MIYAZAKI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | pneumatic actuator / five-fingered robot hand / muscle synergies / antagonistic muscle / articular angle control |
| Paper # | MBE2009-84 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2010/1/21(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| 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 |
| 1st Author's Name | Yuki HONDA |
| 1st Author's Affiliation | Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University() |
| 2nd Author's Name | Atsushi NISHIKAWA |
| 2nd Author's Affiliation | Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University |
| 3rd Author's Name | Fumio MIYAZAKI |
| 3rd Author's Affiliation | Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University |
| Date | 2010-01-28 |
| Paper # | MBE2009-84 |
| Volume (vol) | vol.109 |
| Number (no) | 406 |
| Page | pp.pp.- |
| #Pages | 5 |
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