DE602006011957D1 - Handvorrichtung - Google Patents

Handvorrichtung

Info

Publication number
DE602006011957D1
DE602006011957D1 DE602006011957T DE602006011957T DE602006011957D1 DE 602006011957 D1 DE602006011957 D1 DE 602006011957D1 DE 602006011957 T DE602006011957 T DE 602006011957T DE 602006011957 T DE602006011957 T DE 602006011957T DE 602006011957 D1 DE602006011957 D1 DE 602006011957D1
Authority
DE
Germany
Prior art keywords
hand device
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
DE602006011957T
Other languages
English (en)
Inventor
Takafumi Fukushima
Hiroshi Matsuda
Kenichiro Sugiyama
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 DE602006011957D1 publication Critical patent/DE602006011957D1/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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
DE602006011957T 2005-12-13 2006-11-15 Handvorrichtung Active DE602006011957D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005358455A JP4643429B2 (ja) 2005-12-13 2005-12-13 ハンド装置
PCT/JP2006/322768 WO2007069424A1 (ja) 2005-12-13 2006-11-15 ハンド装置

Publications (1)

Publication Number Publication Date
DE602006011957D1 true DE602006011957D1 (de) 2010-03-11

Family

ID=38162738

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006011957T Active DE602006011957D1 (de) 2005-12-13 2006-11-15 Handvorrichtung

Country Status (6)

Country Link
US (1) US8195334B2 (de)
EP (1) EP1974872B1 (de)
JP (1) JP4643429B2 (de)
KR (1) KR100910253B1 (de)
DE (1) DE602006011957D1 (de)
WO (1) WO2007069424A1 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4692824B2 (ja) * 2005-12-16 2011-06-01 株式会社安川電機 多指ハンドシステムおよびそれを用いたロボット
JP5281377B2 (ja) * 2008-12-04 2013-09-04 トヨタ自動車株式会社 ロボット装置
JP5500921B2 (ja) * 2009-09-10 2014-05-21 本田技研工業株式会社 多指ハンド装置
JP5312207B2 (ja) * 2009-06-05 2013-10-09 本田技研工業株式会社 ロボットハンド装置
US8511964B2 (en) 2009-09-22 2013-08-20 GM Global Technology Operations LLC Humanoid robot
US8515579B2 (en) * 2009-12-09 2013-08-20 GM Global Technology Operations LLC Systems and methods associated with handling an object with a gripper
US8265792B2 (en) * 2010-04-15 2012-09-11 GM Global Technology Operations LLC Method and apparatus for calibrating multi-axis load cells in a dexterous robot
JP6149204B2 (ja) * 2013-09-03 2017-06-21 国立研究開発法人産業技術総合研究所 ロボットハンド
CN103692438B (zh) * 2013-12-23 2015-08-12 江苏理工学院 自动捞藕装置
US9579218B2 (en) 2014-02-04 2017-02-28 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
CN104802180B (zh) * 2015-04-09 2017-06-06 上海大学 欠驱动拟人三指机械手
DE102015218523B4 (de) * 2015-09-25 2021-04-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greifvorrichtung
US9545727B1 (en) * 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
US9844885B2 (en) * 2015-11-27 2017-12-19 Tamkang University Gripping device having opened and closed gripping modes
USD783448S1 (en) * 2015-12-15 2017-04-11 Kamal Siegel Figurine articulated hand
GB2552981B (en) * 2016-08-17 2020-04-01 Univ Of Hertfordshire Higher Education Corporation An Interactive Humanoid Robot using RFID Tagged Objects
JP7278597B2 (ja) 2017-05-01 2023-05-22 ソフト ロボティクス， インコーポレイテッド ロボットエンドエフェクタのための構造
CN113146660A (zh) * 2021-04-08 2021-07-23 清华大学深圳国际研究生院 一种利用深度视觉进行触觉感知的机械爪
DE102021121743A1 (de) 2021-08-23 2023-02-23 Aeon Robotics GmbH Roboterhand eines Roboters und Verfahren zum Trainieren eines Roboters sowie ein tragbares Sensor- und Kraftrückführungselement hierzu

Family Cites Families (31)

* Cited by examiner, † Cited by third party
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JPS60146695A (ja) * 1984-01-05 1985-08-02 株式会社ブリヂストン ロボツトハンド
JPS63251186A (ja) * 1987-04-08 1988-10-18 富士通株式会社 ロボツト用ハンド
US5501498A (en) * 1988-08-31 1996-03-26 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US4980626A (en) * 1989-08-10 1990-12-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for positioning a robotic end effector
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
US5373747A (en) * 1991-03-30 1994-12-20 Kabushiki Kaisha Toshiba Robot hand and robot
US5570920A (en) * 1994-02-16 1996-11-05 Northeastern University Robot arm end effector
JP2849056B2 (ja) 1995-07-23 1999-01-20 川崎重工業株式会社 位置決め部を有する把持装置
JP3717218B2 (ja) 1995-11-29 2005-11-16 株式会社安川電機 ロボットハンド
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
JPH10314198A (ja) * 1997-02-03 1998-12-02 Fukushin Denki Kk 義 手
JPH10249773A (ja) * 1997-03-11 1998-09-22 Kubota Corp ロボットハンド用指
JP4104038B2 (ja) * 2000-03-08 2008-06-18 株式会社小松製作所 把持装置
JP4323056B2 (ja) * 2000-04-04 2009-09-02 本田技研工業株式会社 多指ハンド装置の制御装置
US6517132B2 (en) * 2000-04-04 2003-02-11 Honda Giken Kogyo Kabushiki Kaisha Multifinger hand device
JP4545331B2 (ja) * 2000-04-04 2010-09-15 本田技研工業株式会社 多指ハンド装置
NO20011324L (no) * 2001-03-15 2002-09-16 Maritime Hydraulics As Gripeklo for rörvarer
JP3914045B2 (ja) * 2001-12-17 2007-05-16 本田技研工業株式会社 多指ハンド装置
JP3754666B2 (ja) * 2002-09-02 2006-03-15 スキューズ株式会社 アクチュエータ及びハンド装置
WO2004028753A2 (en) * 2002-09-26 2004-04-08 Barrett Technology, Inc. Intelligent, self-contained robotic hand
JP4030011B2 (ja) * 2002-10-07 2008-01-09 株式会社ハーモニック・ドライブ・システムズ ロボットハンド用掌機構
JP4133188B2 (ja) * 2002-10-07 2008-08-13 株式会社ハーモニック・ドライブ・システムズ ロボットハンドの指ユニット
JP2004276215A (ja) * 2003-03-18 2004-10-07 Sharp Corp 把持装置及び把持装置の制御方法
JP3996093B2 (ja) * 2003-05-29 2007-10-24 トヨタ自動車株式会社 ロボットハンド
WO2005065264A2 (en) * 2003-12-30 2005-07-21 Strider Labs Robotic hand with extendable palm
JP5122134B2 (ja) * 2004-03-31 2013-01-16 独立行政法人科学技術振興機構 ロボットハンド
WO2005099417A2 (en) * 2004-04-12 2005-10-27 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
JP2006159320A (ja) * 2004-12-03 2006-06-22 Sharp Corp ロボットハンド
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
JP5281377B2 (ja) * 2008-12-04 2013-09-04 トヨタ自動車株式会社 ロボット装置

Also Published As

Publication number Publication date
WO2007069424A1 (ja) 2007-06-21
US8195334B2 (en) 2012-06-05
US20090081004A1 (en) 2009-03-26
KR20080016644A (ko) 2008-02-21
KR100910253B1 (ko) 2009-07-31
EP1974872B1 (de) 2010-01-20
JP2007160448A (ja) 2007-06-28
EP1974872A1 (de) 2008-10-01
JP4643429B2 (ja) 2011-03-02
EP1974872A4 (de) 2009-04-08

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Legal Events

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