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

研究成果: Article査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)4275-4285
ページ数11
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
79
807
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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