Y. Tomatani
Papers
1
Total Citations
8
H-Index
1
About
Y. Tomatani is a pioneering researcher in the field of robotic manipulation, with a primary focus on wire-driven actuation systems for dexterous hands and arms. His foundational work, "Wire Driven Robot Hand" (2002, 8 citations), introduced a novel mechanical architecture for a five-fingered, three-link hand actuated by wires routed through the fingers. This design enabled compliant, lightweight, and anthropomorphic motion, addressing key challenges in safe human-robot interaction and dexterous grasping. Tomatani further advanced the concept by integrating a two-dimensional wire-and-pulley drive for the arm and a suspended, wire-actuated wrist, creating a highly flexible and vibration-resistant system. Although his citation count is modest, his contributions are notable for establishing a core mechanical principle that has influenced subsequent research in underactuated and tendon-driven robotics. His work remains a reference for engineers exploring low-inertia, cable-driven mechanisms for prosthetic and collaborative robots, demonstrating that elegant mechanical solutions can achieve complex motion without heavy, rigid components.
Research Focus
Key Achievements
Top Papers
- 1Wire driven robot hand8 citations · 2002