コイルばねを用いた多関節骨格構造を有する柔軟外装付腱駆動指機構

抄録

We proposed the wire-driven flexible finger mechanism with soft exterior and multi-joint skeletal structure using coil springs in order to touch living bodies, such as human bodies and fragile fruits. Skeleton members are inserted between winding wires of the coil springs. A wire run through the inside coil springs and soft exterior is formed outside of them. We also developed the robot hand of the human mimetic musculoskeletal humanoid ”Kengoro” with the finger mechanism we proposed.