停止位置の異なる2本腱ロボットフィンガの開発

抄録

This paper newly proposes a three-joint robotic finger mechanism on the basis of biomechanical structure of human fingers. This finger consists of MP, PIP, and DIP joints activated by two tendons and motors. This tendon driven mechanism is designed to create secure coupled motion of the joints, which can be realized by applying different insertion configuration of the tendons. We experimentally verify that the bioinspired mechanism is appropriate for adaptive grasping. Finally, this study identifies a transfer function model with respect to the tapping force from dynamic repetitive motion.