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http://dx.doi.org/10.5302/J.ICROS.2014.14.0035

Development of Anthropomorphic Robot Hand and Arm by Tendon-tubes  

Kim, Doo-Hyeong (Department of Physics and Chemistry, Korea Military Academy)
Shin, Nae-Ho (Department of Physics and Chemistry, Korea Military Academy)
Oh, Myoung-Ho (Department of Computer Science and Electrical Engineering, Korea Military Academy)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.9, 2014 , pp. 964-970 More about this Journal
Abstract
In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.
Keywords
tendon-tube; robot hand; anthropomorphic robot; prosthetic device;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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