TITLE - Robotic electric hand for engaging object between gripping portions, has current restriction portion restricting current supplied to actuator portion such that current is not greater than predesignated electrical current

摘要

The hand (10) has a force costly portion outputting a drive command upon force value detected by a force sensor. A drive portion drives an actuator portion by supplying an electric current to the actuator portion. A force determining section determines whether detected force value achieves a predetermined target force value. A current restriction portion restricts the current supplied to the actuator portion such that the current is not greater than predesignated electrical current when determines that the detected value reaches the target force value.