Robot hand and robot

摘要

A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.

主权项

1. A robot hand that includes a plurality of fingers and a base provided with the plurality of fingers and grasps an object by using the plurality of fingers, the robot hand comprising:
a resultant reaction force detector that detects a resultant reaction force that is a combination of reaction forces exerted by the plurality of fingers on the base; and a finger driver that drives the plurality of fingers to approach the object or move away from the object, wherein the plurality of fingers include a contact sensing finger that senses contact with the object, and the finger driver
moves the plurality of fingers toward the object when the resultant reaction force is not detected and the contact sensing finger does not sense the contact, andswitches a force that drives the plurality of fingers to a force corresponding to a grasp force exerted to grasp the object when the contact sensing finger senses the contact, and wherein, when the contact sensing finger does not sense the contact but the resultant reaction force is detected, the driving of the plurality of fingers is stopped, the position of the base is changed by moving the base in a direction in which the resultant reaction force is not detected any more, and the plurality of fingers are again moved toward the object.