Abstract
This paper presents the under-actuated robot hand which is driven by wire. A new mechanism using a spring is loaded into this hand. This hand is using the finger with the system to switch two motions, joint synchronous and adaptable motion passively. In order to adapt to objects with curved surfaces, the spring base mechanism was provided such that the joint of finger root can passible rotate and the hand can adapt to the object shape. The hand can get the suitable holding form according to the object by that mechanism. The hand was mainly made by ABS and was light weight. It can reduce damage due to collision.
