APPLYING FLEXIBLE-MICROACTUATORS TO MULTI-FINGERED ROBOT-HAND

Abstract

A FLexible microactuator. FMA. has potential to reproduce human friendly actuation because ofits smoothness in motion. It is made of fiber-reinforced silicon-nibber which bends or stretches in proportion to pressures of internal three chambers. The mechanism is yen- simple and enables gentle miniature robots without conventional link mechanism. Two kinds of multi-fingered robot-hand are developed. One is four FMA-fingers arranged symmetrically. and the other is five FMAfingers with a palm like a human hand. Four-fingered hand can tighten a bolt skillfully. Five-fingered hand can hold soil and fragile timings such as fruit or glasses.