Robot hand and robot hand finger

摘要

A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.