Abstract
We developed the robot hand using nonlinear torque joint mechanism. This hand has a possibility to operate by simple and low power actuate system. The flexed posture of the finger is decided uniquely by the relation between extension torque which is generated by the nonlinear torque joint mechanism and flexing torque which is generated by the actuator. In this paper, we derived the conditional expression of the torque balance for designing the robot finger. The validity of this expression and the usability of the nonlinear torque joint mechanism were confirmed experimentally.
