| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a hand structure of a robot device, a driving device, a driving method and a robot device for surely and suitably grasping an object. <P>SOLUTION: A finger part 601 of the robot device is provided with: a skeleton layer 80 having a first hardness; a flexible layer 74, 85 provided to cover the skeleton layer 701 and having a second hardness lower than the first hardness; and a surface layer 75, 86 provided to cover the flexible layer 74, 85 and having a hardness lower than the first hardness and higher than the second hardness. In the driving device and driving method for driving the hand of the robot, the rotating condition of a motor as a driving source for driving the finger part is detected, and according to the detection result, the rotation of the motor is controlled so that the magnitude of external force applied to the finger part and the displacement of the motor in the rotating state due to the external force have proportional relationship. <P>COPYRIGHT: (C)2004,JPO</p> |
