Proposal of anthropomorphic hand with passive warped fingertip

Abstract

Artificial arm is one of the most important robotic applications for persons who lost their original arm by accident or disease, but it is difficult to realize the real motion of human by the conventional artificial arm. This paper describes new anthropomorphic hand that consists of the operation unit and holding part and achieves the flexible motion by the passive warped fingertip. The operation unit is made by the index finger, middle finger and thumb, and each finger contains three degrees of freedom. In this paper, the prototype of robot hand was tested its motion, and confirmed some tool manipulation.