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Development of Anthropomorphic Soft Robotic Hand WSH-1RII

  • Nobutsuna Endo
  • Takuya Kojima
  • Keita Endo
  • Fumiya Iida
  • Kenji Hashimoto
  • Atsuo Takanishi
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

In the future, we will need service robots capable of natural interaction with people, which often involves the use of hands. In this paper, we aim to evaluate the impression of the interaction between a human and a humanoid robot with anthropomorphic hands. In particular, we focus on the influence of the grip of robot’s hands during handshaking. First, we measured pressured places and forces. Based on this result, we selected motors that have enough torque for handshaking. Finally, we developed a new anthropomorphic soft robot hand named WSH-1RII with the soft material structure, enough grip strength, and force sensing. The experimental results confirmed that the hand gives the users a good impression.

Keywords

Grip Strength Emotion Expression Humanoid Robot Human Hand Service Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Nobutsuna Endo
    • 1
  • Takuya Kojima
    • 1
  • Keita Endo
    • 1
  • Fumiya Iida
    • 1
  • Kenji Hashimoto
    • 1
  • Atsuo Takanishi
    • 1
  1. 1.Department of Modern Mechanical EngineeringWaseda UniverityTokyoJapan

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