近接覚センサと RC サーボモータを用いた高機能・多自由度ハンドの開発

抄録

In industrial field and home service field, there is required to grasp various objects with one type of a hand. Since fingertips of multi-D.O.F hand have a wide movable range, it is suitable for grasping objects with various shape and size. In our laboratory, we have developed the hand equipped with proximity sensors. And we realized a pre-grasp motion which adjusts distance and posture between the fingertip and an object without touching it. However, the hand used is expensive custom-made items, and there is problems that a controller is large and expensive. In this research, we develop a low-cost robot hand equipped with the proximity sensor. This robot hand consists of RC servo motors, which has advantages of easy maintenance, easy installation and low-cost.