2A2-A14 Development of A Soft-Fingered Robotic Hand with torsional motion of fingertips

摘要

This paper proposes a novel soft-fingered robotic hand system whose fingertips can perform torsional movement. By using the torsion movement, object manipulations that cannot be executed by human's hand or current humanoid robotic hands are enabled. Moreover, it becomes possible to simplify the motion planning of the hand system for a part of object manipulation. First, we show the mechanism of our robotic hand. Second, a control method, which is not only to grasp an object stably but also to realize desired object position and orientation, is proposed. Then, an experiment of object manipulation is carried out, and discuss the usefulness of our proposed system.