空気圧ベローズアクチュエータを用いた多自由度ロボットハンドの開発

抄録

Robot hands with multi-degree-of-freedom employing bellows actuators are developed. The robot hands are able to move freely like human hand and are to be slim and lightweight. The robot hands consist of bellows and plates which function as joints and bones. As human fingers the plates sandwich the bellows between them. The thumbs of the robot hands are provided with the function of the saddle joint similar to a human finger. Therefore the thumbs are able to abduction and adduction and they are also possible to flexion and extension. In addition, abduction and adduction between each finger and the curvature of the back of the hand are also enables. Lightweight artificial hand weight of half the human hand is achieved by housing the newly developed very small piezoelectric pump in the portion of the arm of the artificial hand. Practical utility of the hands as an artificial hand and robot hand was proved experimentally.