| 摘要 |
A force sensor is disposed on a hand attaching base portion, a finger base on which a pair of fingers are placed so as to be opposed to each other is disposed on a measuring unit of the force sensor, a finger driving mechanism base is disposed on the hand attaching base portion in a manner so as not to be made in contact with none of the force sensor, the finger base and the fingers, finger driving mechanisms are disposed on the finger driving mechanism base so that vectors of driving forces, which allow the pair of the opposed fingers to move so as to open or close, are made face to face with each other within a plane on which the pair of the opposed fingers are moved to open or close so as to be cancelled with each other, with the result that the fingers are driven so as to make the resultant force virtually zero, and an actuator, which is positioned at a place other than the hand attaching base portion, the force sensor, the finger base, or the fingers and the finger driving mechanism base, and drives the finger driving mechanism, is also installed.
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