1A2-J10 Development of Two-Finger Micro Hand for Handling of Oven and Cultured Cell : (1^<st>) Report System and Evaluation of Basic Performance

Abstract

In this paper, a two-finger micro hand system for handling of an oven and a cultured cell is described. The micro hand has a simple structure composed of two serial links. It removes the backlash in each joint by employing a spring in order to realize micro order motion. High sensitive force sensors are installed in the finger tips in order to detect the grasping force of a cell. Linear motions of the finger tip in a horizontal and vertical direction and the force sensor was evaluated experimentally. From the experiments, it was confirmed that the basic functions of the system for handling of a cell was achieved.