二本指マイクロハンド用操作デバイスの開発とその制御

抄録

We have proposed a concept of two-fingered micro hand, and designed and built a two-fingered micro hand based on parallel mechanisms. In this paper we mainly discuss a master device to control the two-fingered micro hand and a strategy for effective operation. We observed actual human finger motions and designed a master device and a operation strategy suitable for the two-fingered micro hand. By using the developed device, we could obtain good performance of micro manipulation.