| 摘要 |
<p>Disclosed is a robot hand and a robot device that can readily achieve flexible gripping of a target gripping object, wherein the flexible gripping follows the shape of said target object. The robot hand is an underactuated robot hand (8) with a greater number of joints than actuators and comprises a palm section (11); three finger sections (12) whereby the bases thereof are connected to the palm section (11) and which comprise a plurality of links (16, 17, and 18) connected in a manner that enables bending; and a shape-fitting mechanism (US) positioned on one finger section (12A) which enables grasping such that a target gripping object (9) is enclosed by the finger sections (12) through the application of torsional displacement to the links (16, 17, and 18) .</p> |
