Abstract
The purpose of this study is to develop a gentle human like robot hand. We designed a pneumatic rubber hand which has four fingers made of silicon rubber and called soft grippers. The soft gripper has a chamber which is reinforced with fi ber in a circular direction and a thin plastic sheet in the lower part of the gripper. The soft gripper has a displacement sensor based on a flexible strain sensor that we have developed earlier. The flexible sensor is made of electro-conductive paint and silicon rubber. We have developed a pneumatic rubber hand for enveloping grasp and finger-tip grasp. In this study, we improve the hand to grasp an object stably. Further, we construct a control system for grasping an object surely and gently.
