Page Turning Using Assistive Robot with Low-Degree-of-Freedom Hand

This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and joints required to handle various objects. The robotic hand has right and left planar fingers that can transform their shape to handle various objects. To turn a page, the robot uses the planar fingers to push the surface of the page and then rotates the fingers. The design concept, mechanism, sensor system, strategy for page turning, and control system of the robotic hand are presented. The experimental results show that the robot can turn pages using the proposed method; however, it sometimes failed to turn the page when the robotic hand height was too low and too close to the book because the rotation of the fingers was stopped by the book. When the hand detects excessive force during page turning, the control system changes the shape of the fingers and releases the force from the book. The experimental results show the effectiveness of the control system.