Abstract
This paper presents a biomimetic hand to achieve both the safety on impacts and high grasping force simultaneously. From the investigations of the human hand the actuators are divided into two groups and the groups are successively activated in accordance with the desired grasping force. Linear motors are adopted for fast and precise motions of a finger and SMA springs are applied to generate high grasping force. The backdrivability derived by the dual actuation scheme enables to achieve the safety on impacts. The design concept has been verified with experiments of a prototype finger module.
