抄録
The systematic classification method of hand motions, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent actuators does not come up to that of human muscle in the same volume. It is important for robot hands to accomplish aimed tasks with their minimum mechanism. Human hand motions are analyzed quantitatively in consideration of robot hand mechanisms such as engagement mechanism of DIP joint and PIP joint. According to the results of analyses, three items, that is, needed fingers, joints which need to be set up actuators and fundamental movements which we define in this study are got. Moreover, the figure of systematic classification of human hand movement for robot hand by three items is created.
