Development of under-supporting extension hand for tableware handling (New concept of the hand for stable handling and its design for arm system)

Hideichi Nakamoto, Hideki Ogawa, Nobuto Matsuhira, Shigeo Hirose

Research output: Contribution to journalArticle

1 Citation (Scopus)


This paper presents a hand mechanism called "USE Hand (Under-Supporting Extension Hand)" for stable handling of tableware. For table setting work, development of a method of handling various tableware and consideration of safe coexistence with humans are required. We focused on the grasping method that supports tableware from its beneath. In this method, if a plate can once be slid beneath tableware and weight can be supported, stability is kept by applying small force to the tableware. Therefore, it is a simple but very effective mechanism for the stable handling of tableware. This paper describes the development of USE Hand, a mechanism that can support tableware from beneath. In addition, we introduce a mobile robot that is equipped with USE Hand and intended for handling tableware in coexistence with humans.

Original languageEnglish
Pages (from-to)4275-4285
Number of pages11
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number807
Publication statusPublished - 2013



  • Coupled Drive
  • Grasping stability
  • Manipulator
  • Mechanism
  • Robot Hand
  • Service robot

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

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