TY - GEN
T1 - Controller design on the fingerspelling robot hand using shape memory alloy
AU - Terauchi, Mina
AU - Zenba, Kouta
AU - Shimada, Akira
AU - Fujita, Masanori
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
KW - Control
KW - Fingerspelling
KW - Robot hand
KW - Shape memory alloy
KW - System identification
UR - http://www.scopus.com/inward/record.url?scp=34250713362&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250713362&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.315168
DO - 10.1109/SICE.2006.315168
M3 - Conference contribution
AN - SCOPUS:34250713362
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 3480
EP - 3483
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -