ディスク積層型湾曲機構を用いた2自由度マイクロハンドの開発

―拡大モデルによる把持・ねじり基本動作の検証―

抄録

Bending mechanisms have been applied to microminimally invasive surgical robots because they are simple and advantageous for miniaturization. The authors have already developed a robotic surgical instrument that focuses on a 2-degreee-of-freedom (DOF) disk-stack bending mechanism for microminimally invasive surgery. We propose a 2-DOF microhand using disk-stack bending mechanisms. By applying this bending mechanism to a robot hand, an unprecedented, innovative microhand with a diameter of approximately 2–3 mm can be realized. In this study, a 5-times-enlarged model of the 2-DOF microhand with a diameter of 17 mm is prototyped, and basic motions of grasping and twisting are demonstrated by a manual drive. Furthermore, it is also possible to grasp parts of various shapes and hardnesses. This microhand is expected to be used as a soft hand.