抄録
It is well known that the DIP and PIP joints of the index finger move connectedly. The anatomical structure is considered to contribute to dexterous handling of an object. This paper treats a graspless manipulation of an object on a plane with an under-actuated tendon-driven robotic finger, which realizes the anatomical characteristics of the index finger. Some simulation is executed to confirm the role of the anatomical characteristics in the manipulation task.
