指の着脱可能なロボットハンド

抄録

We propose a robotic hand system which can exchange the fingers. To realize a grasping of a wide variety of objects in small quantities, we make a set of fingers by a 3D printer, and use a robot while exchanging the fingers according to the tasks and the objects. The hand system consists of a parallel two-fingered hand, a set of exchangeable fingers and finger holders. The paper describes the mechanical interface between hand and fingers, and composition of the finger holder.