Anthropomorphic robot hand with hydrostatic cluster actuator and detachable passive wire mechanism

摘要

Anthropomorphic robot hand has been an interest of researchers to investigate principle and to realize dexterous manipulation. However, designing such a hand had been a challenge due to their large degree of freedom and limited payload. Those challenges result in lack of actuator power, lack of durability, and poor maintainability. To overcome such issues of anthropomorphic robot hand, we proposed novel mechanism of robot hand with detachable passive wire mechanism and hydrostatic actuator cluster. In this paper, basic concept of the proposed hand, hydrostatic actuator and hand development, and basic experiments with the developed hand is explained.