Abstract
In the industry, automation has been progressed by robot that can work more accurately and quickly than a human. However, most of them are limited to simple work. On the other hand, human being can handle various tasks with a variety of tools. If robot can handle various tools, wide range of tasks can be handled. In our previous works, the robot hand for nipper type tools has been developed. This hand is moved by only two motors, but it can handle various nipper type tools. In this paper, several experiments are executed to confirm its feasibility. In addition, an approach to estimate joint position is discussed.
