Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

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In this paper, a hot embossing heating roll with induction heater inside the roll is proposed. The induction heating coil is installed inside a roll that is used as a heating roll of a roll-to-roll (R2R) hot embossing apparatus. Using an inside installed heating coil gives the roll-to-roll hot embossing system a more even temperature distribution on the surface of the heating roll compared to that of previous systems, which used an electric wire for heating. This internal induction heating roll can keep the working environment much cleaner because there is no oil leakage compared to the oiled heating roll. This paper describes the principles and provides an analysis of this proposed system; some evaluation has also been performed for the system. A real R2R hot embossing heating roll system was fabricated and some experiments on micro-pattering have been performed. After that, evaluation has been performed on the results.

To evaluate the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.

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