| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand including a plurality of finger parts and characterized in that when an object is gripped by the plurality of finger parts, the fingertips of the finger parts are rolled back.SOLUTION: The robot hand includes a palm part, a plurality of finger parts connected to the palm part, and an ECU for controlling the plurality of finger parts. Each finger part includes a fingertip having a gripping surface for gripping an object, a finger base connected to the fingertip, a first actuator for rotating the fingertip around a first rotational axis with respect to the finger base, and a second actuator for rotating the finger base around a second rotational axis parallel to the first rotational axis with respect to the palm part. To grip the object by the plurality of finger parts, when the tips of the fingertips are in a rolled-back region which is a region of a side more away from the finger parts than a connection part between the fingertips and the finger base, the ECU stops the second actuator to stop the rotation of the finger base, and operates the first actuator to rotate the fingertips in a direction approaching the other finger parts.SELECTED DRAWING: Figure 4 |
