ヒトの指の構造を模した高把持力ロボットハンドの開発

抄録

Human hands are one of the most complex parts in human body. Human can grasp objects of different sizes and shapes with the hands. So far, many researchers have developed robotic hands which imitate the structure of human hands to perform a dexterous grasp. But,these hands can't exert high grasping power. On the other hand, human can perform a dexterous grasp and exert high grasping power. The structure of human hands contributes to not only perform dexterous grasp but also exert high grasping power. We developed the robotic hand which can exert high grasping power by imitating the structure of human hands. An experiment of a grasping power shows us a possibility that the structure of human hands exerts grasping power instead of muscles.