| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a five-fingered hand device for obtaining an action similar to a hand of the human being, reducing size and weight, and being favorably employed for a humanoid robot. <P>SOLUTION: A force sensor 21 detecting force working on a fingertip is provided at either or both of an index finger mechanism 6 and a middle finger mechanism 7, and a thumb mechanism 5. Finger mechanisms having the force sensor 21 are considered as a dexterous finger performing a dexterous action including pickup operation by a fingertip. Finger mechanisms other than the dexterous finger are considered as a force finger performing a force action including a grip action in accordance with the action of the dexterous fingers. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
