Controller design on the fingerspelling robot hand using shape memory alloy

Mina Terauchi, Kouta Zenba, Akira Shimada, Masanori Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper introduces the mechanical structure and control technique of the robot fingers. The fingers has been developed as elemnts of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The joints are driven by the small DC servomotors and the shape memory alloys (SMA), The hand system will consist of four parts of "hand mechanism", "drive device", "control unit" and "man machine interface". As the first step of the research, this paper introduces especially about the control technique related to the second axes of the fingers driven by SMA. Basically, the finger can be bended and unbend by a pair of SMA wires. Furthermore, to realize those smooth motions, the control system is designed based on an experimental result of system identification. Finally, we report the simulation and experimental control results.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages3480-3483
Number of pages4
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CityBusan
Period06/10/1806/10/21

Fingerprint

End effectors
Shape memory effect
Robots
Controllers
Servomotors
Identification (control systems)
Wire
Control systems

Keywords

  • Control
  • Fingerspelling
  • Robot hand
  • Shape memory alloy
  • System identification

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Terauchi, M., Zenba, K., Shimada, A., & Fujita, M. (2006). Controller design on the fingerspelling robot hand using shape memory alloy. In 2006 SICE-ICASE International Joint Conference (pp. 3480-3483). [4108363] https://doi.org/10.1109/SICE.2006.315168

Controller design on the fingerspelling robot hand using shape memory alloy. / Terauchi, Mina; Zenba, Kouta; Shimada, Akira; Fujita, Masanori.

2006 SICE-ICASE International Joint Conference. 2006. p. 3480-3483 4108363.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Terauchi, M, Zenba, K, Shimada, A & Fujita, M 2006, Controller design on the fingerspelling robot hand using shape memory alloy. in 2006 SICE-ICASE International Joint Conference., 4108363, pp. 3480-3483, 2006 SICE-ICASE International Joint Conference, Busan, 06/10/18. https://doi.org/10.1109/SICE.2006.315168
Terauchi M, Zenba K, Shimada A, Fujita M. Controller design on the fingerspelling robot hand using shape memory alloy. In 2006 SICE-ICASE International Joint Conference. 2006. p. 3480-3483. 4108363 https://doi.org/10.1109/SICE.2006.315168
Terauchi, Mina ; Zenba, Kouta ; Shimada, Akira ; Fujita, Masanori. / Controller design on the fingerspelling robot hand using shape memory alloy. 2006 SICE-ICASE International Joint Conference. 2006. pp. 3480-3483
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