抄録
This paper describes a development of bio-mimetic robot hands and its control scheme. This robot hand has four independently-moving fingers, which are driven by four coupled link mechanism with two linear actuators. By using the linear actuators, we could make the hand similar to human hand in its structure and motion. The coupled link mechanism makes the hand compact in structure and efficient in power. The robot hand was designed considering the dexterity and the size suited for various tools and objects using daily life. The hand has tactile sensors mounted on the palm and the fingertips of each finger. With tactile sensor based feedback control and force closure method, we could control the hand very stable in grasping and handling of various objects.
