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Actuation and control of robotic hands is one of the problems in engineering that still needs to be satisfactorily solved. In this paper we present a robotic finger actuated by twisted strings mechanism that we call Twist Drive. A principle of the proposed actuation is described and its basic characteristics are presented. The structure of a developed robotic finger with the proposed actuation method...
This paper presents a new type of 2 DOF frame torque sensor for replacing the pair of 1 DOF torque sensors. The 1 DOF torque sensors were used in Metacarpophalangeal(MCP) joint as well as Proximal Interphalangeal(PIP) joints of our previous version of robotic hand. However, because of the complexity in the MCP joint, the installation of the 1 DOF torque sensor was very complicated and the torques...
This paper describes the world's first commercialized window cleaning robot named windoro, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency and safety. An inner unit and an outer unit are in charge...
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