| 摘要 |
<p>[Problem to be Solved] Flexible grasping following a shape of an object to be grasped with respect thereto is easily achieved. [Solution] A robot hand (8) of underactuated mechanism comprises a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion (11), three finger portions (12) each including a plurality of links (16, 17, 18) having bases coupled to the palm portion (11) and coupled being capable of flexion, and a shape-fitting mechanism (US) which is provided in at the finger portion (12A), and which enables to grasp an object (9) to be grasped in an enclosing manner with the finger portions (12) by performing providing torsional displacement to the links (16, 17 , 18).</p> |
