五指を有する表皮骨格一体型ロボットハンドの製作

抄録

In recent years, soft robotic hands that mimic the functions of human hands have been studied. While grasping performance can be improved by adding the characteristics of human skin, the number of parts increases when trying to reproduce multiple degrees of freedom, causing problems in assembly and maintenance. Therefore, we aimed to create a robot hand that has the advantage of reproducing the human body and is easy to assemble by integrally molding the skin and skeleton into a single part. In this study, we describe the design and fabrication methods, and show that a 15-DOF robot hand can be fabricated in less than one hour.