DE602004026205D1 - Roboterhand - Google Patents

Roboterhand

Info

Publication number
DE602004026205D1
DE602004026205D1 DE602004026205T DE602004026205T DE602004026205D1 DE 602004026205 D1 DE602004026205 D1 DE 602004026205D1 DE 602004026205 T DE602004026205 T DE 602004026205T DE 602004026205 T DE602004026205 T DE 602004026205T DE 602004026205 D1 DE602004026205 D1 DE 602004026205D1
Authority
DE
Germany
Prior art keywords
robot hand
robot
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE602004026205T
Other languages
English (en)
Inventor
Masato Hayakawa
Takafumi Fukushima
Kazuhiro Kishimoto
Kazuyuki Takahashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602004026205D1 publication Critical patent/DE602004026205D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device
DE602004026205T 2003-09-12 2004-08-31 Roboterhand Active DE602004026205D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003321850A JP4313125B2 (ja) 2003-09-12 2003-09-12 ロボットハンド
PCT/JP2004/012573 WO2005032771A1 (ja) 2003-09-12 2004-08-31 ロボットハンド

Publications (1)

Publication Number Publication Date
DE602004026205D1 true DE602004026205D1 (de) 2010-05-06

Family

ID=34418983

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602004026205T Active DE602004026205D1 (de) 2003-09-12 2004-08-31 Roboterhand

Country Status (5)

Country Link
US (1) US7549688B2 (de)
EP (1) EP1666217B1 (de)
JP (1) JP4313125B2 (de)
DE (1) DE602004026205D1 (de)
WO (1) WO2005032771A1 (de)

Families Citing this family (46)

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JP4482437B2 (ja) * 2004-12-14 2010-06-16 本田技研工業株式会社 ロボットハンド装置
JP4317518B2 (ja) * 2004-12-14 2009-08-19 本田技研工業株式会社 物品運搬システム
US8033189B2 (en) * 2005-12-28 2011-10-11 Honda Motor Co., Ltd. Robot skin
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
JP4702299B2 (ja) * 2007-02-02 2011-06-15 株式会社豊田自動織機 ロボットハンド
US20090132088A1 (en) * 2007-04-24 2009-05-21 Tairob Ltd. Transfer of knowledge from a human skilled worker to an expert machine - the learning process
FR2917660B1 (fr) * 2007-06-25 2009-09-25 Commissariat Energie Atomique Pince pour robot manipulateur a precision de serrage amelioree et robot manipulateur comportant au moins une telle pince.
JP4997078B2 (ja) * 2007-11-26 2012-08-08 トヨタ自動車株式会社 ロボットハンド
JP5130573B2 (ja) * 2007-12-26 2013-01-30 本田技研工業株式会社 ロボットハンド装置
KR101549818B1 (ko) * 2008-12-02 2015-09-07 삼성전자 주식회사 로봇 핸드 및 그 제어방법
US9052710B1 (en) * 2009-03-20 2015-06-09 Exelis Inc. Manipulation control based upon mimic of human gestures
US8052185B2 (en) * 2009-04-09 2011-11-08 Disney Enterprises, Inc. Robot hand with humanoid fingers
JP5335551B2 (ja) * 2009-05-14 2013-11-06 本田技研工業株式会社 ロボットハンドならびにその制御システム、制御方法および制御プログラム
US8504198B2 (en) * 2009-05-14 2013-08-06 Honda Motor Co., Ltd. Robot hand and control system, control method and control program for the same
WO2010142043A1 (en) * 2009-06-12 2010-12-16 Kinova Mechanical finger
WO2012039479A1 (ja) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 人間型電動ハンド
JP5652261B2 (ja) * 2011-03-01 2015-01-14 トヨタ自動車株式会社 ロボットハンドの制御装置
US9067319B2 (en) * 2011-08-11 2015-06-30 GM Global Technology Operations LLC Fast grasp contact computation for a serial robot
JP5516610B2 (ja) * 2012-01-19 2014-06-11 株式会社安川電機 ロボット、ロボットハンドおよびロボットハンドの保持位置調整方法
JP2014083637A (ja) * 2012-10-24 2014-05-12 Toyota Industries Corp ロボットハンド
EP2917002B1 (de) * 2012-11-09 2017-09-27 iRobot Corporation Nachgiebige unterbetätigte zange
US8991885B2 (en) * 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
US9625333B2 (en) 2013-03-15 2017-04-18 President And Fellows Of Harvard College Tactile sensor
US9138897B1 (en) * 2013-04-30 2015-09-22 Sandia Corporation Mechanisms for employment with robotic extensions
US9550298B2 (en) * 2013-12-10 2017-01-24 Nok Corporation Covering material and covering structure for robot grasping unit
FR3016543A1 (fr) * 2014-01-22 2015-07-24 Aldebaran Robotics Main destinee a equiper un robot a caractere humanoide a doigts ameliores
DK3107429T3 (da) * 2014-02-20 2024-02-12 Mbl Ltd Fremgangsmåder og systemer til tilberedning af mad i et robot-madlavningskøkken
US9492928B2 (en) 2014-11-05 2016-11-15 Toyota Motor Engineering & Manufacturing North America, Inc. Interconnected phalanges for robotic gripping
JP6468871B2 (ja) * 2015-02-03 2019-02-13 キヤノン株式会社 ロボットハンド制御方法及びロボット装置
US9545727B1 (en) 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
JP6348097B2 (ja) * 2015-11-30 2018-06-27 ファナック株式会社 ワーク位置姿勢算出装置およびハンドリングシステム
JP6710946B2 (ja) * 2015-12-01 2020-06-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
US9694494B1 (en) * 2015-12-11 2017-07-04 Amazon Technologies, Inc. Feature identification and extrapolation for robotic item grasping
USD783448S1 (en) * 2015-12-15 2017-04-11 Kamal Siegel Figurine articulated hand
US10456910B2 (en) * 2016-01-14 2019-10-29 Purdue Research Foundation Educational systems comprising programmable controllers and methods of teaching therewith
JP1573749S (de) * 2016-01-29 2017-04-10
CN105666518B (zh) * 2016-03-18 2017-11-03 杜宇 一种欠驱动的仿人灵巧手
EP3321043A3 (de) * 2016-11-10 2018-10-10 Canon Kabushiki Kaisha Verfahren zur steuerung einer haltvorrichtung, haltevorrichtung und robotervorrichtung
US10406685B1 (en) * 2017-04-20 2019-09-10 X Development Llc Robot end effector control
WO2018235214A1 (ja) * 2017-06-21 2018-12-27 株式会社齋藤創造研究所 マニピュレーターおよびロボット
US10792809B2 (en) * 2017-12-12 2020-10-06 X Development Llc Robot grip detection using non-contact sensors
US10682774B2 (en) 2017-12-12 2020-06-16 X Development Llc Sensorized robotic gripping device
GB2577680B (en) * 2018-09-25 2021-05-05 Covvi Ltd A mechanical hand
CN109514544A (zh) * 2018-12-27 2019-03-26 浙江工业大学 一种仿生机械手
JP7343917B2 (ja) * 2020-09-03 2023-09-13 ビラリント プライベート リミテッド 適応可能な多機能ロボットハンド

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US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
US4539554A (en) * 1982-10-18 1985-09-03 At&T Bell Laboratories Analog integrated circuit pressure sensor
US4492949A (en) * 1983-03-18 1985-01-08 Barry Wright Corporation Tactile sensors for robotic gripper and the like
JPS6034295A (ja) 1983-08-03 1985-02-21 株式会社日立製作所 皮膚感覚センサ
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor
JPH0650871B2 (ja) 1984-08-27 1994-06-29 富士通株式会社 リング形ネツトワ−クにおける伝送路制御方式
US4964302A (en) * 1984-09-25 1990-10-23 Grahn Allen R Tactile sensor
US4746894A (en) * 1986-01-21 1988-05-24 Maurice Zeldman Method and apparatus for sensing position of contact along an elongated member
US5062673A (en) * 1988-12-28 1991-11-05 Kabushiki Kaisha Toyota Chuo Kenkyusho Articulated hand
JPH02256489A (ja) * 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
JPH0429388A (ja) 1990-05-24 1992-01-31 Matsushita Electric Ind Co Ltd 波長可変半導体レーザ装置
JPH078477B2 (ja) * 1990-06-25 1995-02-01 工業技術院長 ロボットの把持外被
US5373747A (en) * 1991-03-30 1994-12-20 Kabushiki Kaisha Toshiba Robot hand and robot
JP3279664B2 (ja) 1992-08-28 2002-04-30 株式会社東芝 触覚センサ装置及びロボットハンド
WO2004028753A2 (en) * 2002-09-26 2004-04-08 Barrett Technology, Inc. Intelligent, self-contained robotic hand

Also Published As

Publication number Publication date
EP1666217B1 (de) 2010-03-24
EP1666217A1 (de) 2006-06-07
EP1666217A4 (de) 2008-01-16
WO2005032771A1 (ja) 2005-04-14
US7549688B2 (en) 2009-06-23
US20070018470A1 (en) 2007-01-25
JP2005088096A (ja) 2005-04-07
JP4313125B2 (ja) 2009-08-12

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