抄録
Human does not seems to be conscious of fingers individually. Several basic researches indicate that the contribution by physical structure and the nervous system is occupied in grasping motion. Applying and understanding such a nature, it is expected to lead to the performance enhancement and the development of design index of the human robot hand. Therefore we pay attention to a phenomenon called Enslaving Effect(EE) where it contributes to a solution to the problem of the variety of grasping motion of the human in this paper and analyze how EE occurs by a difference of the size of grasping object. As a result, the flexibility of the multi- fingered hand suggested that it was constant without depending on grip scale as interlocking movement in the each grip pattern that becoming it was possible. But it was revealed that EE has tendency to become small based on the placement of the finger and the size it was easy to catch for human.
