Robotic Hand with Pressure/Shear Sensor for a Care Robot

• Main Authors: Kai-Deng Zhan, 詹凱登
• Other Authors: Jung-Tang Huang
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/6y2z39

碩士 === 國立臺北科技大學 === 製造科技研究所 === 105 === Owing to the growing amount of disabilities in entire country, the demand for long-term care is increasing. As robots are developed with the aim of serving, robotic hand plays the main role when interacting with people who are nursed. This study develops the robotic hand with pressure sensor of care robot. It is mainly a robot hand with three-finger type and seven-axis degree of freedom which can hold the objects with lots of shapes. Also, a total of 7 points pressure sensor and 3 points shear sensor are arranged on the palm to adjust the force of joint. It can grab about 13 kg weight. In order to adapt to the appearance of livelihood water in home environment, the mechanism is completely covered by IP2 anti-water design. It is used with the arm of care robot to carry out a variety of home care. The motors and the material of structural parts can also be applied to the arm of industrial robot.