Journal of
Systemics, Cybernetics and Informatics
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ISSN: 1690-4524 (Online)


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Editorial Advisory Board's Chair
William Lesso

Editor-in-Chief
Nagib C. Callaos


Sponsored by
The International Institute of
Informatics and Systemics

www.iiis.org

 

Editorial Advisory Board

Journal's Reviewers
 

Description and Aims

Submission of Articles

Areas and Subareas

Information to Contributors

Editorial Peer Review Methodology


A Proposed Model for Tracking the University Interdisciplinary Projects
Rafael Melgarejo, Paulina Cadena
(pages: 1-2)

Enhancing Teaching, Adaptability and Presentation Skills through Improvisational Theater
Thomas J. Marlowe
(pages: 3-7)

Interprofessional Collaborative Practice to Improve Patient Outcomes: A Pilot Study
Jennifer Styron, Catherine Dearman, Sheila Whitworth, Henrietta Brown
(pages: 8-13)

Using a Common Pedagogy across Multiple Disciplines to Improve Student Learning
Ronald A. Styron, Jr., Jennifer L. Styron
(pages: 14-16)

Enhancing Writing through Strengthened Executive Function
Russell Jay Hendel
(pages: 17-22)

Using Interdisciplinary and Active Research to Encourage Higher Resolution Research and Prototyping in Design
Adream Blair-Early, Frankie Flood
(pages: 23-27)

Integration of Education: Using Social Media Networks to Engage Students
Risa Blair, Tina M. Serafini
(pages: 28-31)

Management, Resources and Reproductive Biology
Bernard Wallner, Martin Fieder
(pages: 32-33)

Effectiveness and Utility of a Case-Based Model for Delivering Engineering Ethics Professional Development Units
Heidi Ann Hahn
(pages: 34-39)

Informing via Research: Methods, Challenges and Success when Using a Multi-Disciplinary Team and Reverse Engineering Analysis Processes to Answer a 200 Year Old Question
Melinda H. Connor, Sallyanne Payton
(pages: 40-47)


 

Abstracts

 


ABSTRACT


Universal Robot Hand Equipped with Tactile and Joint Torque Sensors: Development and Experiments on Stiffness Control and Object Recognition

Hiroyuki NAKAMOTO, Futoshi KOBAYASHI, Nobuaki IMAMURA, Hidenori SHIRASAWA, Fumio KOJIMA


Various humanoid robots have been developed and multifunction robot hands which are able to attach those robots like human hand is needed. But a useful robot hand has not been depeveloped, because there are a lot of problems such as control method of many degrees of freedom and processing method of enormous sensor outputs. Realizing such robot hand, we have developed five-finger robot hand. In this paper, the detailed structure of developed robot hand is described. The robot hand we developed has five fingers of multi-joint that is equipped with joint torque sensors and tactile sensors. We report experimental results of a stiffness control with the developed robot hand. Those results show that it is possible to change the stiffness of joints. Moreover we propose an object recognition method with the tactile sensor. The validity of that method is assured by experimental results.

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