| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot finger assembly in a dexterous humanoid robot that is adapted to carry out one or a plurality of tasks with multi-degree of freedom (DOF). SOLUTION: A robot hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint freely rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked so that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange. COPYRIGHT: (C)2011,JPO&INPIT
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