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NAIST Application NoP08-21



TitleROBOT HAND
INVENTORKURITA Yuichi; IKEDA Atsutoshi; ONO Yasuhiro; OGASAWARA Tsukasa.
Pub.NoWO/2010/064684Pub Date2010/6/10
International Application NoPCT/JP2009/070312International Application Date 2009/12/3

abstractA robot hand which can be formed in the shape of a human hand, which is easily maintained, and which generates fingertip force. A robot hand (1) is provided with a hand section (3) and an arm section (5). The hand section (3) corresponds to that portion of a human hand which is forward from the wrist thereof. The arm section (5) is provided with a drive device (d5) comprising motors and generates driving force for driving each movable section of the hand section (3). The hand section (3) and the arm section (5) are configured in such a manner that a group (g36) of wrist-mounted pulleys which are first driving force transmitting members coaxially arranged and a group (r5) of arm pulleys which are second driving force transmitting members coaxially arranged transmit driving force which is generated by the drive device (d5) to each movable section of the hand section (3) through gears meshing with each other.
National Phase