JP2009125888A - Robot hand - Google Patents

Robot hand Download PDF

Info

Publication number
JP2009125888A
JP2009125888A JP2007304994A JP2007304994A JP2009125888A JP 2009125888 A JP2009125888 A JP 2009125888A JP 2007304994 A JP2007304994 A JP 2007304994A JP 2007304994 A JP2007304994 A JP 2007304994A JP 2009125888 A JP2009125888 A JP 2009125888A
Authority
JP
Japan
Prior art keywords
finger
joint
joints
flexible
rigidity
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.)
Granted
Application number
JP2007304994A
Other languages
Japanese (ja)
Other versions
JP4965413B2 (en
Inventor
Fumiyoshi Kurihara
史好 栗原
Shigeki Sugano
重樹 菅野
Hiroyasu Iwata
浩康 岩田
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.)
Waseda University
Toyota Motor Corp
Original Assignee
Waseda University
Toyota Motor Corp
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 Waseda University, Toyota Motor Corp filed Critical Waseda University
Priority to JP2007304994A priority Critical patent/JP4965413B2/en
Publication of JP2009125888A publication Critical patent/JP2009125888A/en
Application granted granted Critical
Publication of JP4965413B2 publication Critical patent/JP4965413B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand capable of carrying out various work appropriately using fingers. <P>SOLUTION: The robot hand 1 comprises articulated fingers 3-6 connected to a base 2. The finger 4 has joints 11, 13, 15, the finger 5 has joints 20, 22, 24, and the finger 6 has joints 26, 28, 30. The joints 11, 15 of the finger 4 are formed as flexible joints with built-in springs. In the same way, the joints 20, 24 of the finger 5 and the joints 26, 30 of the finger 6 are all formed as flexible joints. The spring constant of the springs built in the flexible joints 20, 24 and flexible joints 26, 30 is made higher than those of springs built in the flexible joints 11, 15. The rigidity of the flexible joints 20, 24 and flexible joints 26, 30 is thereby higher than those of the flexible joints 11, 15. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、多関節の指部を備えたロボットハンドに関するものである。   The present invention relates to a robot hand provided with multi-joint fingers.

多関節の指部を備えたロボットハンドとしては、例えば特許文献１に記載されているように、ＤＩＰ関節がＰＩＰ関節に連動して駆動される連動受動柔軟関節で構成されてなるものが知られている。
特開２００３−２２０５８９号公報 As a robot hand provided with multi-joint fingers, for example, as described in Patent Document 1, a DIP joint composed of an interlocking passive flexible joint driven in conjunction with a PIP joint is known. ing.
JP 2003-220589 A

しかしながら、上記従来技術においては、指部毎の柔軟関節の最適化がなされていないため、以下のような問題点が存在する。即ち、柔軟関節の剛性が低い場合には、冷蔵庫や電子レンジ等の戸を開けたり窓を開ける等といった力のかかる作業を行うときに、ロボットハンドの指部が伸展してしまい、上手く作業できない場合がある。一方、柔軟関節の剛性が高い場合には、パンや牛乳パック等の柔軟物を把持するときに、それらの物体を握り潰してしまうことがある。   However, in the above-described prior art, the flexible joint for each finger is not optimized, and there are the following problems. In other words, if the rigidity of the flexible joint is low, the finger part of the robot hand extends when performing a forceful operation such as opening a door or opening a window, such as a refrigerator or a microwave oven, and the work cannot be performed well. There is a case. On the other hand, when the flexibility of the flexible joint is high, these objects may be crushed when gripping a flexible object such as a bread or a milk pack.

本発明の目的は、指部を使った種々の作業を適切に実施することができるロボットハンドを提供することである。   An object of the present invention is to provide a robot hand capable of appropriately performing various operations using a finger part.

本発明は、弾性体が設けられてなる柔軟関節を有する複数本の指部を備えたロボットハンドであって、指部毎に柔軟関節の剛性が異なるように構成されていることを特徴とするものである。   The present invention is a robot hand including a plurality of fingers having a flexible joint provided with an elastic body, and is configured so that the rigidity of the flexible joint is different for each finger. Is.

このようなロボットハンドにおいて、例えば柔軟物を把持するときは、剛性の低い柔軟関節を有する指部を使用することで、柔軟物を握り潰すことなく安定して掴むことが可能となる。また、ドアや窓の開け閉め等といった力が必要な作業を行うときは、剛性の高い柔軟関節を有する指部を使用することで、対象物をしっかり掴んで作業をスムーズに行うことが可能となる。このように作業内容や目的に応じて指部を使い分けることにより、指部を使った種々の作業を適切に実施することができる。   In such a robot hand, for example, when gripping a flexible object, it is possible to stably grip the flexible object without crushing by using a finger portion having a flexible joint with low rigidity. In addition, when performing work that requires force such as opening and closing doors and windows, it is possible to grip the target object smoothly and smoothly by using fingers with a flexible joint with high rigidity. Become. As described above, by properly using the finger portions according to the work content and purpose, various operations using the finger portions can be appropriately performed.

好ましくは、複数本の指部のうちの対向可能な２本の指部において、何れか一方の指部の剛性が他方の指部の剛性よりも大きい。対向する２本の指部の何れか一方に柔軟性を持たせ、他方に剛性を持たせることで、剛性の高い指部で物体に安定した反力を与えると共に、柔軟性のある指部で物体の形状や大きさの認識誤差を受動的に吸収することができるので、安定した把持等を行うことができる。   Preferably, in two fingers that can be opposed to each other among the plurality of fingers, the rigidity of one of the fingers is larger than the rigidity of the other finger. By giving flexibility to one of the two opposing finger parts and giving rigidity to the other, it gives a stable reaction force to the object with a highly rigid finger part, and with a flexible finger part Since recognition errors of the shape and size of the object can be passively absorbed, stable gripping and the like can be performed.

また、複数本の指部のうちの対向しない２本の指部において、何れか一方の指部の剛性が他方の指部の剛性よりも大きくても良い。対向しない複数の指部の中から物体の柔軟性に適切な指部を選出することにより、対向する指部と共に適切な把持等を行うことができる。   In addition, in two fingers that are not opposed to each other among the plurality of fingers, the rigidity of any one of the fingers may be larger than the rigidity of the other finger. By selecting a finger part appropriate for the flexibility of the object from among a plurality of finger parts that do not face each other, it is possible to perform appropriate gripping and the like together with the finger parts that face each other.

また、好ましくは、弾性体がばねであり、指部毎にばねのばね定数が異なることで柔軟関節の剛性が異なる。この場合には、指部毎に異なる剛性をもった柔軟関節を簡単な構造で実現することができる。   Further, preferably, the elastic body is a spring, and the stiffness of the flexible joint differs depending on the spring constant of each finger. In this case, a flexible joint having different rigidity for each finger part can be realized with a simple structure.

本発明によれば、１つのロボットハンドでも種々の作業を適切に実施することができる。これにより、例えば種々の作業に対処すべく複数種類のロボットハンドを用意するといったことが不要となるため、コスト的に有利となる。   According to the present invention, various operations can be appropriately performed even with one robot hand. Accordingly, for example, it is not necessary to prepare a plurality of types of robot hands to deal with various operations, which is advantageous in terms of cost.

以下、本発明に係わるロボットハンドの好適な実施形態について、図面を参照して詳細に説明する。   DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a robot hand according to the present invention will be described in detail with reference to the drawings.

図１は、本発明に係わるロボットハンドの一実施形態を示す概略平面図である。同図において、本実施形態のロボットハンド１は、掌に相当するベース２と、このベース２に連結された多関節の指部３〜６とを備えている。なお、指部３は、人間の親指に相当するものである。   FIG. 1 is a schematic plan view showing an embodiment of a robot hand according to the present invention. In the figure, a robot hand 1 according to the present embodiment includes a base 2 corresponding to a palm, and articulated finger portions 3 to 6 connected to the base 2. The finger unit 3 corresponds to a human thumb.

指部３は、ベース２にＭＰ関節７を介して連結されたリンク８と、このリンク８にＩＰ関節９を介して連結されたリンク１０とからなっている。関節７，９は、ばね等の弾性体が組み込まれていない剛体関節として構成されている。関節７，９には、指部３を曲げ伸ばしさせるためのモータ（図示せず）がそれぞれ内蔵されている。   The finger unit 3 includes a link 8 connected to the base 2 via an MP joint 7 and a link 10 connected to the link 8 via an IP joint 9. The joints 7 and 9 are configured as rigid joints in which an elastic body such as a spring is not incorporated. The joints 7 and 9 each have a built-in motor (not shown) for bending and extending the finger part 3.

指部４は、ベース２にＭＰ関節１１を介して連結されたリンク１２と、このリンク１２にＰＩＰ関節１３を介して連結されたリンク１４と、このリンク１４にＤＩＰ関節１５を介して連結されたリンク１６とからなっている。関節１３は剛体関節として構成され、関節１１，１５は、ばね１８（図２参照）が組み込まれた柔軟関節として構成されている。関節１１，１３には、指部４を曲げ伸ばしさせるためのモータ（図示せず）がそれぞれ内蔵されている。   The finger part 4 is connected to the base 2 via an MP joint 11, a link 14 connected to the link 12 via a PIP joint 13, and a link 14 connected to the link 14 via a DIP joint 15. Link 16. The joint 13 is configured as a rigid joint, and the joints 11 and 15 are configured as flexible joints incorporating a spring 18 (see FIG. 2). The joints 11 and 13 each have a built-in motor (not shown) for bending and extending the finger part 4.

ＤＩＰ関節１５は、ＰＩＰ関節１３に内蔵されたモータにより関節１３と連動して回動する連動受動柔軟関節となっている。このようにＤＩＰ関節１５を連動受動構造とすることにより、指部４の構造がシンプル化されると共に指部４を細くすることができる。   The DIP joint 15 is an interlocking passive flexible joint that rotates in conjunction with the joint 13 by a motor built in the PIP joint 13. Thus, by making the DIP joint 15 an interlocking passive structure, the structure of the finger part 4 can be simplified and the finger part 4 can be made thinner.

このような指部４におけるＤＩＰ関節１５の具体的構造を図２に示す。図２において、ＰＩＰ関節１３の回転軸１３ａとＤＩＰ関節１５の回転軸１５ａとは、リンク１４の主リンク部材１７で連結されている。関節１５には、トーションばね１８が回転軸１５ａを巻き付けるように装着されている。トーションばね１８の一端は関節１５に固定され、トーションばね１８の他端はリンク１６に固定されている。また、関節１３，１５同士は、連動リンク部材１９で連結されている。   The specific structure of the DIP joint 15 in such a finger part 4 is shown in FIG. In FIG. 2, the rotation shaft 13 a of the PIP joint 13 and the rotation shaft 15 a of the DIP joint 15 are connected by a main link member 17 of a link 14. A torsion spring 18 is attached to the joint 15 so as to wind the rotating shaft 15a. One end of the torsion spring 18 is fixed to the joint 15, and the other end of the torsion spring 18 is fixed to the link 16. Further, the joints 13 and 15 are connected by an interlocking link member 19.

関節１３に内蔵されたモータ（図示せず）により関節１３を矢印Ａ方向に回動させると、この回転動作に連動して関節１５が矢印Ｂ方向に回動し、指部４が曲がるようになる。そして、関節１５の回動中に指部４のリンク１６が何らかの物体に当たることで、矢印Ｃ方向（伸展方向）の反力が発生すると、その反力がトーションばね１８に吸収されるようになる。   When the joint 13 is rotated in the direction of arrow A by a motor (not shown) built in the joint 13, the joint 15 is rotated in the direction of arrow B in conjunction with this rotation, so that the finger 4 is bent. Become. When the reaction force in the direction of arrow C (extension direction) is generated by the link 16 of the finger 4 hitting some object while the joint 15 is rotating, the reaction force is absorbed by the torsion spring 18. .

指部５は、ベース２にＭＰ関節２０を介して連結されたリンク２１と、このリンク２１にＰＩＰ関節２２を介して連結されたリンク２３と、このリンク２３にＤＩＰ関節２４を介して連結されたリンク２５とからなっている。関節２２は剛体関節として構成され、関節２０，２４は柔軟関節として構成されている。関節２０，２２には、指部５を曲げ伸ばしさせるためのモータ（図示せず）がそれぞれ内蔵されている。関節２４は、関節２２と連動して回動する連動受動柔軟関節となっている。   The finger part 5 is connected to the base 2 via an MP joint 20, a link 23 connected to the link 21 via a PIP joint 22, and a link 23 connected to the link 23 via a DIP joint 24. Link 25. The joint 22 is configured as a rigid joint, and the joints 20 and 24 are configured as flexible joints. Each of the joints 20 and 22 includes a motor (not shown) for bending and extending the finger part 5. The joint 24 is an interlocking passive flexible joint that rotates in conjunction with the joint 22.

指部６は、ベース２にＭＰ関節２６を介して連結されたリンク２７と、このリンク２７にＰＩＰ関節２８を介して連結されたリンク２９と、このリンク２９にＤＩＰ関節３０を介して連結されたリンク３１とからなっている。関節２８は剛体関節として構成され、関節２６，３０は柔軟関節として構成されている。関節２６，２８には、指部６を曲げ伸ばしさせるためのモータ（図示せず）がそれぞれ内蔵されている。関節３０は、関節２８と連動して回動する連動受動柔軟関節となっている。   The finger 6 is connected to the base 2 via a MP joint 26, a link 29 connected to the link 27 via a PIP joint 28, and a link 29 connected to the link 29 via a DIP joint 30. Link 31. The joint 28 is configured as a rigid joint, and the joints 26 and 30 are configured as flexible joints. Each of the joints 26 and 28 has a built-in motor (not shown) for bending and extending the finger portion 6. The joint 30 is an interlocking passive flexible joint that rotates in conjunction with the joint 28.

指部５の柔軟関節２０，２４の剛性は、指部４の柔軟関節１１，１５の剛性よりも高くなっている。また、指部６の柔軟関節２６，３０の剛性は、柔軟関節２０，２４の剛性と同等である。具体的には、柔軟関節２０，２４及び柔軟関節２６，３０に組み込まれたばね（図示せず）のばね定数は、柔軟関節１１，１５に組み込まれたばね（図２のトーションばね１８に相当）のばね定数よりも高くなっている。   The rigidity of the flexible joints 20 and 24 of the finger part 5 is higher than the rigidity of the flexible joints 11 and 15 of the finger part 4. Further, the rigidity of the flexible joints 26 and 30 of the finger portion 6 is equal to the rigidity of the flexible joints 20 and 24. Specifically, the spring constants of the springs (not shown) incorporated in the flexible joints 20 and 24 and the flexible joints 26 and 30 are the same as those of the springs incorporated in the flexible joints 11 and 15 (corresponding to the torsion spring 18 in FIG. 2). It is higher than the spring constant.

例えば、ドアの開閉を可能とする柔軟関節２０，２４及び柔軟関節２６，３０の剛性は、物体の柔らかさ認識を可能とする柔軟関節１１，１５の剛性に対して１．５倍程度に設定されている。   For example, the rigidity of the flexible joints 20 and 24 and the flexible joints 26 and 30 that can open and close the door is set to about 1.5 times the rigidity of the flexible joints 11 and 15 that can recognize the softness of the object. Has been.

以上から、互いに対向する指部３，４においては、指部３の剛性は指部４の剛性よりも高くなっている。また、互いに対向する指部４，５においては、指部５の剛性は指部４の剛性よりも高くなっている。さらに、対向しない指部３，５においては、指部３の剛性は指部５の剛性よりも高くなっている。   From the above, in the finger portions 3 and 4 facing each other, the rigidity of the finger portion 3 is higher than the rigidity of the finger portion 4. Further, in the finger parts 4 and 5 that face each other, the rigidity of the finger part 5 is higher than the rigidity of the finger part 4. Further, in the finger portions 3 and 5 that are not opposed, the rigidity of the finger portion 3 is higher than the rigidity of the finger portion 5.

以上のように構成したロボットハンド１において、指先で器用に操る必要がある動作や、指先で物体の柔らかさを認識する動作等については、図３に示すように、指部３と柔らかい柔軟関節１１，１５を有する指部４とを用いて行う。この場合には、指先に十分ななじみが必要な操り動作を安定して行うことができる。また、物体の柔らかさが正確に認識可能となるため、パンや牛乳パック等の柔軟物体３２を握り潰すこと無く把持することができる。   In the robot hand 1 configured as described above, for the operation that needs to be skillfully operated with the fingertip, the operation that recognizes the softness of the object with the fingertip, and the like, as shown in FIG. 11 and 15 are used. In this case, it is possible to stably perform a manipulation operation that requires sufficient familiarity with the fingertip. Further, since the softness of the object can be accurately recognized, the flexible object 32 such as a bread or a milk pack can be gripped without being crushed.

また、ドアの取っ手を掴んでのドアの開け閉めといった十分な力が必要となる動作等については、図４に示すように、指部３と硬い柔軟関節２０，２４を有する指部５とを用いて行う。この場合には、ドア３３の取っ手３３ａを掴んだときに、指部５のリンク２５が柔軟関節２４に組み込まれたばね（図示せず）の力に負けて伸展してしまうことが無くなるため、ドア３３の開閉動作をスムーズに行うことができる。なお、指部３，５に加えて、硬い柔軟関節２６，３０を有する指部６を使用しても良く、取っ手３３ａに十分なスペースがある場合には、更に指部４を使用しても良い。   For operations that require sufficient force such as opening and closing the door by grasping the handle of the door, as shown in FIG. 4, the finger portion 3 and the finger portion 5 having the hard flexible joints 20 and 24 are connected. To do. In this case, when the handle 33a of the door 33 is grasped, the link 25 of the finger portion 5 does not lose the force of a spring (not shown) incorporated in the flexible joint 24, so that it does not extend. 33 can be smoothly opened and closed. In addition to the finger portions 3 and 5, the finger portion 6 having the hard flexible joints 26 and 30 may be used. If there is a sufficient space in the handle 33a, the finger portion 4 may be further used. good.

このように本実施形態においては、指部４の柔軟関節１１，１５の剛性と指部５の柔軟関節２０，２４の剛性とを異なるように設定し、作業の動作や目的に応じて、使用する指部３〜５を使い分けるようにしたので、多種多様な作業を１つのロボットハンド１で適切に実施することができる。   As described above, in the present embodiment, the rigidity of the flexible joints 11 and 15 of the finger part 4 and the rigidity of the flexible joints 20 and 24 of the finger part 5 are set differently, and used according to the operation and purpose of the work. Since the finger parts 3 to 5 to be used are properly used, a wide variety of operations can be appropriately performed by one robot hand 1.

なお、本発明のロボットハンドは、上記実施形態に限定されるものではなく、種々変形可能である。   The robot hand of the present invention is not limited to the above embodiment, and can be variously modified.

例えば低剛性の柔軟関節を有する指部と高剛性の柔軟関節を有する指部との組み合わせとしては、特に上記実施形態のものには限られない。例えば図５（Ａ）に示すロボットハンド１では、指部４の柔軟関節１１，１５及び指部６の柔軟関節２６，３０の剛性を指部５の柔軟関節２０，２４の剛性よりも高くしている。   For example, the combination of a finger portion having a low-rigidity flexible joint and a finger portion having a high-rigidity flexible joint is not particularly limited to that in the above embodiment. For example, in the robot hand 1 shown in FIG. 5A, the rigidity of the flexible joints 11 and 15 of the finger part 4 and the flexibility of the flexible joints 26 and 30 of the finger part 6 is made higher than the rigidity of the flexible joints 20 and 24 of the finger part 5. ing.

また、柔軟関節の剛性の設定パターンとしては、特に上記実施形態のような２段階に限られず、３段階以上に分けても良い。例えば図５（Ｂ）に示すロボットハンド１では、指部６の柔軟関節２６，３０の剛性を十分高くし、指部５の柔軟関節２０，２４の剛性をやや高くし、指部４の柔軟関節１１，１５の剛性を低くしている。   Further, the setting pattern of the stiffness of the flexible joint is not limited to the two stages as in the above-described embodiment, and may be divided into three or more stages. For example, in the robot hand 1 shown in FIG. 5B, the rigidity of the flexible joints 26 and 30 of the finger unit 6 is sufficiently increased, the rigidity of the flexible joints 20 and 24 of the finger unit 5 is slightly increased, and the flexibility of the finger unit 4 is increased. The rigidity of the joints 11 and 15 is lowered.

また、柔軟関節及び剛体関節の存在箇所としては、特に上記実施形態のものには限られない。例えば図６（Ａ）に示すロボットハンド１では、指部６のＰＩＰ関節２８に加えてＭＰ関節２６が剛体関節となっており、図６（Ｂ）に示すロボットハンド１では、指部６の全ての関節２６，２８，３０が剛体関節となっている。   Further, the locations where the flexible joint and the rigid joint are present are not limited to those in the above embodiment. For example, in the robot hand 1 shown in FIG. 6 (A), the MP joint 26 is a rigid joint in addition to the PIP joint 28 of the finger part 6, and in the robot hand 1 shown in FIG. All the joints 26, 28 and 30 are rigid joints.

さらに、指部の本数としては、特に上記実施形態のような４本に限られず、例えば３本でも５本でも良い。   Further, the number of finger portions is not particularly limited to four as in the above embodiment, and may be three or five, for example.

また、上記実施形態では、ばねが組み込まれた関節が柔軟関節となっているが、弾性体としてばねの代わりにゴムを組み込んで柔軟関節を構成しても良い。この場合には、ゴムの硬さを指部毎に変えることで、柔軟関節の剛性を指部毎に変えることができる。   Moreover, in the said embodiment, although the joint in which the spring was integrated is a flexible joint, you may comprise a flexible joint by incorporating rubber | gum instead of a spring as an elastic body. In this case, the rigidity of the flexible joint can be changed for each finger by changing the hardness of the rubber for each finger.

本発明に係わるロボットハンドの一実施形態を示す概略平面図である。It is a schematic plan view which shows one Embodiment of the robot hand concerning this invention. 図１に示したＩＰ関節（連動受動柔軟関節）の具体的構造を示す図である。It is a figure which shows the specific structure of the IP joint (interlocking passive flexible joint) shown in FIG. 図１に示したロボットハンドにより柔らかい物体を把持している状態を示す図である。It is a figure which shows the state which is holding the soft object with the robot hand shown in FIG. 図１に示したロボットハンドによりドアの開閉動作を行っている状態を示す図である。It is a figure which shows the state which is performing the door opening / closing operation | movement with the robot hand shown in FIG. 図１に示したロボットハンドの変形例を示す概略平面図である。It is a schematic plan view which shows the modification of the robot hand shown in FIG. 図１に示したロボットハンドの他の変形例を示す概略平面図である。It is a schematic plan view which shows the other modification of the robot hand shown in FIG.

符号の説明Explanation of symbols

１…ロボットハンド、４〜６…指部、１１…ＭＰ関節（柔軟関節）、１５…ＤＩＰ関節（柔軟関節）、１８…トーションばね（弾性体）、２０…ＭＰ関節（柔軟関節）、２４…ＤＩＰ関節（柔軟関節）、２６…ＭＰ関節（柔軟関節）、３０…ＤＩＰ関節（柔軟関節）。

DESCRIPTION OF SYMBOLS 1 ... Robot hand, 4-6 ... Finger part, 11 ... MP joint (flexible joint), 15 ... DIP joint (flexible joint), 18 ... Torsion spring (elastic body), 20 ... MP joint (flexible joint), 24 ... DIP joint (soft joint), 26 ... MP joint (soft joint), 30 ... DIP joint (soft joint).

Claims (4)

弾性体が設けられてなる柔軟関節を有する複数本の指部を備えたロボットハンドであって、
前記指部毎に前記柔軟関節の剛性が異なるように構成されていることを特徴とするロボットハンド。 A robot hand provided with a plurality of fingers having a flexible joint provided with an elastic body,
The robot hand is configured so that the rigidity of the flexible joint is different for each finger part. 前記複数本の指部のうちの対向可能な２本の指部において、何れか一方の指部の剛性が他方の指部の剛性よりも大きいことを特徴とする請求項１記載のロボットハンド。   2. The robot hand according to claim 1, wherein, of the two fingers that can be opposed to each other among the plurality of fingers, the rigidity of any one of the fingers is larger than the rigidity of the other finger. 前記複数本の指部のうちの対向しない２本の指部において、何れか一方の指部の剛性が他方の指部の剛性よりも大きいことを特徴とする請求項１記載のロボットハンド。   2. The robot hand according to claim 1, wherein, in two of the plurality of finger portions that are not opposed to each other, the rigidity of any one of the finger portions is larger than the rigidity of the other finger portion. 前記弾性体がばねであり、
前記指部毎に前記ばねのばね定数が異なることで前記柔軟関節の剛性が異なることを特徴とする請求項１〜３のいずれか一項記載のロボットハンド。




The elastic body is a spring;
The robot hand according to any one of claims 1 to 3, wherein the rigidity of the flexible joint varies depending on a spring constant of the spring for each finger portion.




JP2007304994A 2007-11-26 2007-11-26 Robot hand Expired - Fee Related JP4965413B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007304994A JP4965413B2 (en) 2007-11-26 2007-11-26 Robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007304994A JP4965413B2 (en) 2007-11-26 2007-11-26 Robot hand

Publications (2)

Publication Number Publication Date
JP2009125888A true JP2009125888A (en) 2009-06-11
JP4965413B2 JP4965413B2 (en) 2012-07-04

Family

ID=40817312

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007304994A Expired - Fee Related JP4965413B2 (en) 2007-11-26 2007-11-26 Robot hand

Country Status (1)

Country Link
JP (1) JP4965413B2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125886A (en) * 2007-11-26 2009-06-11 Toyota Motor Corp Robot arm
KR100943240B1 (en) * 2009-08-17 2010-02-18 이영태 Robot hand for easy gripping
JP2012179679A (en) * 2011-03-01 2012-09-20 Toyota Motor Corp System for controlling robot hand
JP2014076524A (en) * 2012-10-11 2014-05-01 Seiko Epson Corp Robot hand, robot device and method of manufacturing robot hand
JP2015533669A (en) * 2012-11-09 2015-11-26 アイロボット コーポレイション Flexible underdrive gripper
JP2017503667A (en) * 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ Hands intended to be placed on humanoid robots with improved fingers

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002355785A (en) * 2001-05-31 2002-12-10 Yukio Saito Artificial hand and artificial hand control system
JP2003220589A (en) * 2002-01-29 2003-08-05 Seiko Epson Corp Knuckle joint mechanism of robot hand and knuckle joint mechanism unit using such mechanism
JP2004181585A (en) * 2002-12-04 2004-07-02 Seiko Epson Corp Robot hand
JP2005329512A (en) * 2004-05-20 2005-12-02 Toyota Motor Corp Method and device for detecting fingertip force of robot hand
JP2006035329A (en) * 2004-07-22 2006-02-09 Toyota Motor Corp Object grip device
WO2006080088A1 (en) * 2005-01-31 2006-08-03 Squse Inc. Actuator, drive device, and hand device
JP2006315128A (en) * 2005-05-12 2006-11-24 Toyota Motor Corp Shifting from one hand to the other hand control method for robot hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002355785A (en) * 2001-05-31 2002-12-10 Yukio Saito Artificial hand and artificial hand control system
JP2003220589A (en) * 2002-01-29 2003-08-05 Seiko Epson Corp Knuckle joint mechanism of robot hand and knuckle joint mechanism unit using such mechanism
JP2004181585A (en) * 2002-12-04 2004-07-02 Seiko Epson Corp Robot hand
JP2005329512A (en) * 2004-05-20 2005-12-02 Toyota Motor Corp Method and device for detecting fingertip force of robot hand
JP2006035329A (en) * 2004-07-22 2006-02-09 Toyota Motor Corp Object grip device
WO2006080088A1 (en) * 2005-01-31 2006-08-03 Squse Inc. Actuator, drive device, and hand device
JP2006315128A (en) * 2005-05-12 2006-11-24 Toyota Motor Corp Shifting from one hand to the other hand control method for robot hand

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125886A (en) * 2007-11-26 2009-06-11 Toyota Motor Corp Robot arm
KR100943240B1 (en) * 2009-08-17 2010-02-18 이영태 Robot hand for easy gripping
JP2012179679A (en) * 2011-03-01 2012-09-20 Toyota Motor Corp System for controlling robot hand
JP2014076524A (en) * 2012-10-11 2014-05-01 Seiko Epson Corp Robot hand, robot device and method of manufacturing robot hand
JP2015533669A (en) * 2012-11-09 2015-11-26 アイロボット コーポレイション Flexible underdrive gripper
JP2017503667A (en) * 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ Hands intended to be placed on humanoid robots with improved fingers

Also Published As

Publication number Publication date
JP4965413B2 (en) 2012-07-04

Similar Documents

Publication Publication Date Title
JP4965413B2 (en) Robot hand
JP6811267B2 (en) Flexible inferior drive gripper
US9126342B2 (en) Self-adaptive mechanical finger and method
WO2005079333A3 (en) Ergonomic handle and articulating laparoscopic tool
US20200375287A1 (en) Robotic exoskeleton glove system
US20090025502A1 (en) Manipulator and robot
KR100637956B1 (en) Design of humanoid finger with an independent link
JP7009072B2 (en) Finger mechanism and humanoid hand incorporating this finger mechanism
WO2014066753A1 (en) Robotic apparatus, method, and applications
WO2005032771A1 (en) Robot hand
WO2015063523A2 (en) Robotic hand
Lee et al. A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system
JP5500921B2 (en) Multi-finger hand device
KR101907536B1 (en) Humanoid robot hand and robot having the same
Salvietti et al. Soft hands with embodied constraints: The soft scoopgripper
KR20190006450A (en) Robot hand
JP2010069557A (en) Hand and its operation method
JP5211287B2 (en) A haptic manipulator with a single center of rotation
KR20070065493A (en) An inner motor operating type for robot hand of 15 joints
Hsu et al. Robot finger with remote center of motion mechanism for covering joints with thick skin
WO2019216293A1 (en) Joint structure and robot hand
JP2007083339A (en) Automatically opening/closing structure for opening/closing tool
US20170355084A1 (en) Robot hand apparatus and robot arm for same
KR20190129816A (en) Hand on Humanoid Robot
JP5013476B2 (en) Robot hand device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20101105

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110412

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20111101

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20111208

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120110

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120224

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120313

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120329

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150406

Year of fee payment: 3

LAPS Cancellation because of no payment of annual fees