Binding Hand Heads: Shinichi Hirai Contact: Ikumi Okada Date: 2013 - Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

We propose a novel robotic hand based on the concept of binding to grasp and handle soft food materials. Binding applies elastic threads instead of rigid fingers for grasping. Binding hands are capable of picking up deformable cups with food materials and packing them in to a lunch box.

2019/7/11	Received AP Award (visitors' evaluation) at International Food Machinery and Technology Exhibition.
2019/3/5	Ms. Okada received SI2018 Excellent Presentation AwardSI for her presentation Modeling ripping force in binding hand at SICE SI2018.
2019/3/1	Soft grippers were introduced in March issue of magazine "Production Goods Marketing".
2019/2/1	Soft grippers were introduced in February issue of magazine "Production Goods Marketing".
2018/10/3	Introducing Private University Research Branding Project of MEXT Soft materials bring robotic research to a new level
2018/6/14	Received AP Award Grand Prix at International Food Machinery and Technology Exhibition.
2018/6/12-6/15	Introducing printable hand, prestretched-finger hand, and binding hand at FOOMA 2018 Acadamic Plaza, with demonstration of ROS-based robotic handlnig system.
2018/6/12	Our research on soft robotics was introduced in an article of Kanjuku Times, a magazine of Kanjuku school.
2018/4/24-4/28	The First IEEE-RAS Int. Conf. on Soft Robotics (RoboSoft 2018) at Grand Hotel Palazzo, Livorno, Italy
2017/12/8	The 3rd meeting of RSJ Special Interest Group on Soft Robotics (SIG SoRo Japan)
2017/11/16	"Soft Robotic Hands for Food Material Handling" at FOOMA 1Day Special Lectures
2017/10/20	Invited Presentation Soft Robotics for Locomotion and Manipulation in Special Session Soft Robotics at 17th Int. Conf. on Control, Automation and Systems (ICCAS 2017).
2017/6/15	Received AP Award Grand Prix at International Food Machinery and Technology Exhibition. (Univ. web page)
2017/6/13-6/16	Demonstrating Soft Robotic Hands for Food Material Handling at International Food Machinery and Technology Exhibition
2017/4/30	Asahi Shimbun introdiced our soft robotics research in Door to Science.
2016/6/9	Received FOOMA Academic Plaza Award at International Food Machinery and Technology Exhibition.
2015/12/21	Presenting "Binding Hands for Food Material Handling" at Fishery Machine Seminar organized by Industrial Research Institute, Hokkaido Research Organization
2015/12/2-5	Demonstrating binding hands and micro pneumatic valves at International Robot Exhibition
2015/11/27	Presenting "Binding Hands for Food Material Handling" at Press Seminar in Tokyo Campus, Ritsumeikan University
2014/6/12	Received FOOMA Academic Plaza Award at International Food Machinery and Technology Exhibition. (pick up)
2014/6/10-13	Presented "Handling of Food Materials by Lightweight Robot System" at Academic Plaza of FOOMA 2014

Binding hand picking up a cup with jerry beans

Binding hand centering a misaligned cup

Personnel

	Name	Title	Degree
	Yuki Mimori	D3
	Yuuya Kono	Graduated	Master of Eng.
	Ikumi Okada	Graduated	Master of Eng.
	Tomohiro Yamada	Graduated	Master of Eng.
	Hisashi Iwamasa	Graduated	Master of Eng.
	Yuuta Matsumoto	Graduated

Publications

• Yuki Mimori, Zhongkui Wang, and Shinichi Hirai, A Novel Binding Hand with Closed Loop Thread Capable of Grasping Small-Diameter Objects, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.310-315, 10.1109/ROBOSOFT.2019.8722733, COEX, Seoul, Korea, Apr. 14-18, 2019
• Ikumi Okada, Zhongkui Wang, and Shinichi Hirai, Gripping Force Modeling of a Binding Hand, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.671-676, 10.1109/ROBOSOFT.2019.8722808, COEX, Seoul, Korea, Apr. 14-18, 2019
• Hisashi Iwamasa and Shinichi Hirai, Binding of Food Materials with a Tension-Sensitive Elastic Thread, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4298-4303, 10.1109/ICRA.2015.7139792, Washington State Convention Center, Seattle, Washington, USA, May 26-30, 2015

• Takahiro Matsuno, Koki Arimoto, Tatsuro Katsuma, and Shinichi Hirai, Binding Hand Mechanism for an Aerial Working Robot, 2021 IEEE Int. Conf. on Soft Robotics (RoboSoft 2021), online, Apr. 12-16, 2021

Notes

Binding hand picks up a cup with beans. (69.4MB)

Binding hand picking up a cup with jerry beans (mp4 80.7MB)

Hand for cup grasping

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