Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Anthropomorphic Robot Hand and Arm by Tendon-tubes

텐던-튜브를 이용한 인체모방형 로봇핸드 및 암 개발

  • Kim, Doo-Hyeong (Department of Physics and Chemistry, Korea Military Academy) ;
  • Shin, Nae-Ho (Department of Physics and Chemistry, Korea Military Academy) ;
  • Oh, Myoung-Ho (Department of Computer Science and Electrical Engineering, Korea Military Academy)
  • 김두형 (육군사관학교 물리화학과) ;
  • 신내호 (육군사관학교 물리화학과) ;
  • 오명호 (육군사관학교 전자정보학과)
  • Received : 2014.04.14
  • Accepted : 2014.06.26
  • Published : 2014.09.01
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Abstract

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

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