Abstract
This paper is a research on the improvement of a three-dimensional magic-hand (super-multi joint manipulator),which is able to extend and bend spatially. That is, to make use of wire length of three wire-encoders built into the manipulator to reduce the bend of it was examined for estimation of the load and moment toward the hand. The relation of the arm compliance and force was led, and simulated for the relation of the length of the wire to displacement of unit. Moreover, it was clarified to be able to estimate force and direction of the load according to the amount of extension of wires.
