DE602004026205D1 - Roboterhand - Google Patents

Roboterhand

Info

Publication number
DE602004026205D1
DE602004026205D1 DE602004026205T DE602004026205T DE602004026205D1 DE 602004026205 D1 DE602004026205 D1 DE 602004026205D1 DE 602004026205 T DE602004026205 T DE 602004026205T DE 602004026205 T DE602004026205 T DE 602004026205T DE 602004026205 D1 DE602004026205 D1 DE 602004026205D1
Authority
DE
Germany
Prior art keywords
robot hand
robot
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE602004026205T
Other languages
English (en)
Inventor
Masato Hayakawa
Takafumi Fukushima
Kazuhiro Kishimoto
Kazuyuki Takahashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602004026205D1 publication Critical patent/DE602004026205D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
DE602004026205T 2003-09-12 2004-08-31 Roboterhand Active DE602004026205D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003321850A JP4313125B2 (ja) 2003-09-12 2003-09-12 ロボットハンド
PCT/JP2004/012573 WO2005032771A1 (ja) 2003-09-12 2004-08-31 ロボットハンド

Publications (1)

Publication Number Publication Date
DE602004026205D1 true DE602004026205D1 (de) 2010-05-06

Family

ID=34418983

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602004026205T Active DE602004026205D1 (de) 2003-09-12 2004-08-31 Roboterhand

Country Status (5)

Country Link
US (1) US7549688B2 (de)
EP (1) EP1666217B1 (de)
JP (1) JP4313125B2 (de)
DE (1) DE602004026205D1 (de)
WO (1) WO2005032771A1 (de)

Families Citing this family (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4317518B2 (ja) * 2004-12-14 2009-08-19 本田技研工業株式会社 物品運搬システム
JP4482437B2 (ja) * 2004-12-14 2010-06-16 本田技研工業株式会社 ロボットハンド装置
US8033189B2 (en) * 2005-12-28 2011-10-11 Honda Motor Co., Ltd. Robot skin
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
JP4702299B2 (ja) * 2007-02-02 2011-06-15 株式会社豊田自動織機 ロボットハンド
US20090132088A1 (en) * 2007-04-24 2009-05-21 Tairob Ltd. Transfer of knowledge from a human skilled worker to an expert machine - the learning process
FR2917660B1 (fr) * 2007-06-25 2009-09-25 Commissariat Energie Atomique Pince pour robot manipulateur a precision de serrage amelioree et robot manipulateur comportant au moins une telle pince.
JP4997078B2 (ja) * 2007-11-26 2012-08-08 トヨタ自動車株式会社 ロボットハンド
JP5130573B2 (ja) * 2007-12-26 2013-01-30 本田技研工業株式会社 ロボットハンド装置
KR101549818B1 (ko) * 2008-12-02 2015-09-07 삼성전자 주식회사 로봇 핸드 및 그 제어방법
US9052710B1 (en) * 2009-03-20 2015-06-09 Exelis Inc. Manipulation control based upon mimic of human gestures
US8052185B2 (en) * 2009-04-09 2011-11-08 Disney Enterprises, Inc. Robot hand with humanoid fingers
US8504198B2 (en) * 2009-05-14 2013-08-06 Honda Motor Co., Ltd. Robot hand and control system, control method and control program for the same
JP5335551B2 (ja) * 2009-05-14 2013-11-06 本田技研工業株式会社 ロボットハンドならびにその制御システム、制御方法および制御プログラム
US8840160B2 (en) * 2009-06-12 2014-09-23 Kinova Mechanical finger
US8747486B2 (en) 2010-09-24 2014-06-10 Gifu University Humanoid electric hand
JP5652261B2 (ja) * 2011-03-01 2015-01-14 トヨタ自動車株式会社 ロボットハンドの制御装置
US9067319B2 (en) * 2011-08-11 2015-06-30 GM Global Technology Operations LLC Fast grasp contact computation for a serial robot
JP5516610B2 (ja) * 2012-01-19 2014-06-11 株式会社安川電機 ロボット、ロボットハンドおよびロボットハンドの保持位置調整方法
JP2014083637A (ja) * 2012-10-24 2014-05-12 Toyota Industries Corp ロボットハンド
US8991885B2 (en) * 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
CN104936749B (zh) * 2012-11-09 2017-11-17 艾罗伯特公司 顺从欠促动抓紧器
US9625333B2 (en) 2013-03-15 2017-04-18 President And Fellows Of Harvard College Tactile sensor
US9138897B1 (en) * 2013-04-30 2015-09-22 Sandia Corporation Mechanisms for employment with robotic extensions
CN105764655B (zh) * 2013-12-10 2017-06-27 Nok株式会社 覆盖材料及机器人把持部的覆盖构造
FR3016543A1 (fr) * 2014-01-22 2015-07-24 Aldebaran Robotics Main destinee a equiper un robot a caractere humanoide a doigts ameliores
KR20160124770A (ko) * 2014-02-20 2016-10-28 엠비엘 리미티드 로봇식 요리용 키친에서의 음식 준비를 위한 방법 및 시스템
US9492928B2 (en) 2014-11-05 2016-11-15 Toyota Motor Engineering & Manufacturing North America, Inc. Interconnected phalanges for robotic gripping
JP6468871B2 (ja) * 2015-02-03 2019-02-13 キヤノン株式会社 ロボットハンド制御方法及びロボット装置
US9545727B1 (en) 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
JP6348097B2 (ja) * 2015-11-30 2018-06-27 ファナック株式会社 ワーク位置姿勢算出装置およびハンドリングシステム
JP6710946B2 (ja) * 2015-12-01 2020-06-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
US9669543B1 (en) 2015-12-11 2017-06-06 Amazon Technologies, Inc. Validation of robotic item grasping
USD783448S1 (en) * 2015-12-15 2017-04-11 Kamal Siegel Figurine articulated hand
US10456910B2 (en) * 2016-01-14 2019-10-29 Purdue Research Foundation Educational systems comprising programmable controllers and methods of teaching therewith
JP1573749S (de) * 2016-01-29 2017-04-10
CN105666518B (zh) * 2016-03-18 2017-11-03 杜宇 一种欠驱动的仿人灵巧手
EP3321043A3 (de) * 2016-11-10 2018-10-10 Canon Kabushiki Kaisha Verfahren zur steuerung einer haltvorrichtung, haltevorrichtung und robotervorrichtung
US10406685B1 (en) * 2017-04-20 2019-09-10 X Development Llc Robot end effector control
EP3643459A4 (de) * 2017-06-21 2020-12-16 Saito Inventive Corp. Manipulator und roboter
US10682774B2 (en) 2017-12-12 2020-06-16 X Development Llc Sensorized robotic gripping device
US10792809B2 (en) * 2017-12-12 2020-10-06 X Development Llc Robot grip detection using non-contact sensors
GB2577680B (en) * 2018-09-25 2021-05-05 Covvi Ltd A mechanical hand
CN109514544A (zh) * 2018-12-27 2019-03-26 浙江工业大学 一种仿生机械手
DE102021209655A1 (de) * 2020-09-03 2022-03-03 Viralint Pte Ltd Anpassungsfähige multifunktionale robotische Hände

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
US4539554A (en) * 1982-10-18 1985-09-03 At&T Bell Laboratories Analog integrated circuit pressure sensor
US4492949A (en) * 1983-03-18 1985-01-08 Barry Wright Corporation Tactile sensors for robotic gripper and the like
JPS6034295A (ja) * 1983-08-03 1985-02-21 株式会社日立製作所 皮膚感覚センサ
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor
JPH0650871B2 (ja) 1984-08-27 1994-06-29 富士通株式会社 リング形ネツトワ−クにおける伝送路制御方式
US4964302A (en) * 1984-09-25 1990-10-23 Grahn Allen R Tactile sensor
US4746894A (en) * 1986-01-21 1988-05-24 Maurice Zeldman Method and apparatus for sensing position of contact along an elongated member
JPH02256489A (ja) 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド
US5062673A (en) * 1988-12-28 1991-11-05 Kabushiki Kaisha Toyota Chuo Kenkyusho Articulated hand
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
JPH0429388A (ja) 1990-05-24 1992-01-31 Matsushita Electric Ind Co Ltd 波長可変半導体レーザ装置
JPH078477B2 (ja) * 1990-06-25 1995-02-01 工業技術院長 ロボットの把持外被
US5373747A (en) * 1991-03-30 1994-12-20 Kabushiki Kaisha Toshiba Robot hand and robot
JP3279664B2 (ja) 1992-08-28 2002-04-30 株式会社東芝 触覚センサ装置及びロボットハンド
CA2500005C (en) * 2002-09-26 2011-12-06 Barrett Technology, Inc. Intelligent, self-contained robotic hand

Also Published As

Publication number Publication date
JP2005088096A (ja) 2005-04-07
US7549688B2 (en) 2009-06-23
JP4313125B2 (ja) 2009-08-12
EP1666217A1 (de) 2006-06-07
WO2005032771A1 (ja) 2005-04-14
EP1666217A4 (de) 2008-01-16
US20070018470A1 (en) 2007-01-25
EP1666217B1 (de) 2010-03-24

Similar Documents

Publication Publication Date Title
DE602004026205D1 (de) Roboterhand
DE102004002416B8 (de) Knickarmroboter
SE0401761L (sv) Robotstädare
SE0301567L (sv) Robot system
DE60321586D1 (de) Lackierroboter
DE50310628D1 (de) Erfahren
NO20055459D0 (no) Prosesser
DE602004031845D1 (de) Ng
DE50211364D1 (de) Zusatzhandgriff
ATE300197T1 (de) Handschuh
DE602004020606D1 (de) Schreitroboter
SE0301827L (sv) Verktyg
DE602004004176D1 (de) Arbeitsgerät
DE50305360D1 (de) Handwerkzeugmaschine
DE50211757D1 (de) Werkzeug
DE602004018799D1 (de) Ng
DE502004003870D1 (de) Handwerkzeug
SE0300228L (sv) Verktyg
ITMI20042400A1 (it) Valigetta portautensili
SE0300498L (sv) Verktyg
FR2860747B1 (fr) Robot de soudage
DE50304290D1 (de) Handwerkzeugmaschine
FR2838149B1 (fr) Pose poignee
ATA8492002A (de) Werkzeug
NO20033490D0 (no) Spiseredskap

Legal Events

Date Code Title Description
8364 No opposition during term of opposition