CUED Publications database

A biologically inspired soft robotic hand using chopsticks for grasping tasks

Chepisheva, M and Culha, U and Iida, F (2016) A biologically inspired soft robotic hand using chopsticks for grasping tasks. In: UNSPECIFIED pp. 195-206..

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Abstract

© Springer International Publishing Switzerland 2016. In this paper we investigate the dexterity of human manipulation capabilities by using a soft robotic hand. We built a robotic hand based on our inspiration from the real human’s, which is capable of handling chopsticks for grasping variations of objects. The robotic hand is made of soft structures, by using anthropomorphic configurations of bones, joints, ligaments, and tendons, that are connected to a minimum set of motor components, i.e. only four servomotors. By developing a minimalistic physics model of chopstick handling and its simulation experiments, we have identified one of the necessary conditions of actuation which enables the robot to grasp variations of small objects, those with different shape, size and weight.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:31
Last Modified: 12 Oct 2017 01:48
DOI: