The Experts below are selected from a list of 30243 Experts worldwide ranked by ideXlab platform
Haruhisa Kawasaki - One of the best experts on this subject based on the ideXlab platform.
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Dexterous anthropomorphic Robot Hand with distributed tactile sensor: Gifu Hand II
IEEE ASME Transactions on Mechatronics, 2002Co-Authors: Haruhisa Kawasaki, Tsuneo Komatsu, Kazunao UchiyamaAbstract:This paper presents an anthropomorphic Robot Hand, called the Gifu Hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF), the other fingers have four joints with 3-DOF, and two axes of the joints near the palm cross orthogonally at one point, as is the case in the human Hand. The Gifu Hand II can be equipped with six-axes force sensor at each fingertip, and a developed distributed tactile sensor with 624 detecting points on its surface. The design concepts and specifications of the Gifu Hand II, the basic characteristics of the tactile sensor, and the pressure distributions at the time of object grasping are described and discussed herein. Our results demonstrate that the Gifu Hand II has a high potential to perform dexterous object manipulations like the human Hand.
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educational industrial complex development of an anthropomorphic Robot Hand gifu Hand
Advanced Robotics, 2001Co-Authors: Haruhisa Kawasaki, Hisayuki Shimomura, Yuuji ShimizuAbstract:(2001). Educational–industrial complex development of an anthropomorphic Robot Hand 'Gifu Hand' Advanced Robotics: Vol. 15, No. 3, pp. 357-363.
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educational industrial complex development of an anthropomorphic Robot Hand gifu Hand
Advanced Robotics, 2001Co-Authors: Haruhisa Kawasaki, Hisayuki Shimomura, Yuuji ShimizuAbstract:It is expected that forthcoming humanoid Robots will execute various complicated tasks via communication with a human user. The humanoid Robots will be equipped with anthropomorphic multi-fingered Hands very like the human Hand. We call this a humanoid Hand Robot. Humanoid Hand Robots will eventually supplant human labor in the execution of intricate and dangerous tasks in areas such as manufacturing, space, the seabed, etc. Our group, which consists of six members from small manufacturing companies in the Gifu prefecture, Japan and one member from Gifu University, has been developing the Gifu Hand, a five-fingered Hand driven by built-in servomotors as an educational-industrial complex development since 1996. We aimed to develop the Robot Hand which is used as the standard platform of the study on dexterous grasping and manipulation of objects.
Daesik Kim - One of the best experts on this subject based on the ideXlab platform.
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a Robot camera Hand eye self calibration system using a planar target
International Symposium on Robotics, 2013Co-Authors: Hyungwon Sung, Sukhan Lee, Daesik KimAbstract:In many vision-based industrial Robot applications, a camera is typically attached to a Robot Hand and the conversion relationship between the Robot Hand and the camera must be estimated accurately. Compared to the conventional complicated Hand/eye calibration methods, in this paper, we propose a novel vision-based Robotic Hand/eye self-calibration method for industrial applications. Our method contains a fixed 2D calibration plane and a camera mounted on a moving Robot Hand. In our process, we compute the Robot-camera relationship by pure translations and rotations of the Robot Hand. By doing this, we can eliminate the manual and tedious Hand/eye calibration procedures performed by workers.
Kazunao Uchiyama - One of the best experts on this subject based on the ideXlab platform.
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Dexterous anthropomorphic Robot Hand with distributed tactile sensor: Gifu Hand II
IEEE ASME Transactions on Mechatronics, 2002Co-Authors: Haruhisa Kawasaki, Tsuneo Komatsu, Kazunao UchiyamaAbstract:This paper presents an anthropomorphic Robot Hand, called the Gifu Hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF), the other fingers have four joints with 3-DOF, and two axes of the joints near the palm cross orthogonally at one point, as is the case in the human Hand. The Gifu Hand II can be equipped with six-axes force sensor at each fingertip, and a developed distributed tactile sensor with 624 detecting points on its surface. The design concepts and specifications of the Gifu Hand II, the basic characteristics of the tactile sensor, and the pressure distributions at the time of object grasping are described and discussed herein. Our results demonstrate that the Gifu Hand II has a high potential to perform dexterous object manipulations like the human Hand.
Taku Kondo - One of the best experts on this subject based on the ideXlab platform.
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modeling and massage control of human skin muscle by using multi fingered Robot Hand
Integrated Computer-aided Engineering, 2006Co-Authors: Kazuhiko Terashima, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa, Taku KondoAbstract:The purpose of this paper is to present the expert massage Robot using a multi-fingered Robot Hand. First, the fingertip forces applied by an expert human therapist was measured using sheet distribution pressure sensors, and the obtained data was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by teaching and playback method using the Robot. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated. Second, in order to advance the above teaching and playback control system, the present paper gives a modeling of human skin muscle through Robot perception of impedance, and a control strategy using impedance control to implement adaptive control system, even if human condition is changed. The model validity is demonstrated via many experiments by using multi-fingered Robot Hand and human body. Based on Robot perception of human muscle impedance, impedance control is proposed, and its effectiveness is shown via computer simulation study.
Kazuhiko Terashima - One of the best experts on this subject based on the ideXlab platform.
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identification and hybrid impedance control of human skin muscle by multi fingered Robot Hand
Intelligent Robots and Systems, 2007Co-Authors: Keisuke Mouri, Panya Minyong, Kazuhiko Terashima, Hideo Kitagawa, Takanori MiyoshiAbstract:This paper proposes an intelligent massage control system by using multi-fingered Robot Hand with hybrid impedance control, which is able to create the movement and the force of Robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised of the two methods of the position-based and the force-based impedance control were applied. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other Hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also gives the identification of human skin muscle through Robot perception of impedance to decide the parameter of impedance controller. The control strategy using impedance control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. Effectiveness of massage control system by using multi- fingered Robot Hand with hybrid impedance control is demonstrator through actual massage experiments of pushing and rubbing motion.
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modeling and massage control of human skin muscle by using multi fingered Robot Hand
Integrated Computer-aided Engineering, 2006Co-Authors: Kazuhiko Terashima, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa, Taku KondoAbstract:The purpose of this paper is to present the expert massage Robot using a multi-fingered Robot Hand. First, the fingertip forces applied by an expert human therapist was measured using sheet distribution pressure sensors, and the obtained data was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by teaching and playback method using the Robot. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated. Second, in order to advance the above teaching and playback control system, the present paper gives a modeling of human skin muscle through Robot perception of impedance, and a control strategy using impedance control to implement adaptive control system, even if human condition is changed. The model validity is demonstrated via many experiments by using multi-fingered Robot Hand and human body. Based on Robot perception of human muscle impedance, impedance control is proposed, and its effectiveness is shown via computer simulation study.
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expert massage motion control by multi fingered Robot Hand
Intelligent Robots and Systems, 2003Co-Authors: Panya Minyong, Takanori Miyoshi, Kazuhiko Terashima, Hideo KitagawaAbstract:This paper presents a massage motion control system comprised of position control and force control in a multi-fingered Robot Hand. By making use of an algorithm which converted the desired fingertip trajectory into the desired angle of links in each finger by means of inverse kinematics, the finger position control from the initial position of the multi-fingered Robot Hand to a target position of the objects for massage was achieved. Its controller was used until the Robot Hand contacted the objects for massage. After contact was made, the fingertip position control was switched to a force control position needed to apply pressure for the massage. The fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the data obtained was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by the Robot Hand. The fingertip force of the Robot Hand was controlled using feedback obtained with a 6-axis force sensor. To make the force of each fingertip of the four-fingered Robot Hand track to the fingertip force exerted by the expert human massage therapist, PI servo compensation and a Jacobian matrix were really applied for the human's shoulder. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated.
