抄録
This article focuses on the three fingered robotic hand with soft fingertips driven by translational joints. This hand can grasp an object with appropriate grasping force and regulate two degrees of freedom a grasped object orientation. We experimentally show that this hand driven by translational joints can tilt a grasped object up to 70 degrees while a hand driven by rotational joint can tilt the grasped object up to 15 degrees. We also have applied a 3-axis acceleration sensor to measure the orientation of a grasped object. We find that this hand can tilt a grasped object toward any direction.
