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Paper Abstract and Keywords
Presentation 2011-02-22 13:00
Development of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism
Hiroki Takeuchi, Tetsuyou Watanabe (Kanazawa University) HIP2010-90
Abstract (in Japanese) (See Japanese page) 
(in English) We developed a multi-fingered robotic hand with skin mechanism enabling softness change. A soft skin provides a stable grasping by increasing contact area between a hand and an object and absorbing unknown information at the surface of the object. However, the softness absorbs the movement of a target object and disturbs a precise manipulation. We conducted analysis and fundamental experiments to evaluate the effect of the softness on a grasping and a manipulation.
Keyword (in Japanese) (See Japanese page) 
(in English) Robotic Hand / Skin / Softness / Grasp / Manipulation / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 422, HIP2010-90, pp. 63-68, Feb. 2011.
Paper # HIP2010-90 
Date of Issue 2011-02-14 (HIP) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee HIP  
Conference Date 2011-02-21 - 2011-02-22 
Place (in Japanese) (See Japanese page) 
Place (in English) Okinawa International Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To HIP 
Conference Code 2011-02-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Development of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism 
Sub Title (in English)  
Keyword(1) Robotic Hand  
Keyword(2) Skin  
Keyword(3) Softness  
Keyword(4) Grasp  
Keyword(5) Manipulation  
1st Author's Name Hiroki Takeuchi  
1st Author's Affiliation Kanazawa University Graduate School (Kanazawa University)
2nd Author's Name Tetsuyou Watanabe  
2nd Author's Affiliation Kanazawa University Graduate School (Kanazawa University)
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Speaker Author-1 
Date Time 2011-02-22 13:00:00 
Presentation Time 30 minutes 
Registration for HIP 
Paper # HIP2010-90 
Volume (vol) vol.110 
Number (no) no.422 
Page pp.63-68 
Date of Issue 2011-02-14 (HIP) 

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