| 摘要 |
PROBLEM TO BE SOLVED: To reduce cost by providing a finger of a robot hand capable of detecting contact with an object without using a light emitting means. SOLUTION: The finger 101 of the robot hand includes a grip part A1 brought into contact with an object 10 to be gripped, a finger body 11 in which an aperture 11c is formed at the grip part A1, a lens 14a provided at the aperture 11c and having a projection face 14a1 in a projection shape projecting outward from the aperture 11c, and a two-dimensional CCD image sensor 15 provided in the inner part of the finger body 11 and detecting light transmitted in the lens 14a. COPYRIGHT: (C)2011,JPO&INPIT
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