抄録
In this paper, we propose a modular robot hand composed of RC servo motors which follows unknown shapes of objects using fingertip proximity sensors. The fingertip proximity sensor has been proved to enable the finger to keep constant distance and run parallel to an object by sensor feedback. The feedback control is simple and robust, and so it can be operated even using microcomputers and RC servo motors. High expandability is one of advantages of RC servo motors. By making the most of its characteristics, the robot hand can be changed degree-of- freedom (DOF) easily. The robot hand will be a variously deformable robot hand according to various purposes.
