Review of Gifu Hand and Its Application

摘要

In this paper, an attempt at summarizing the state of the art in the field of robot hands is described. The survey is focused on the Gifu Hand series and its application. To create a standard robot hand that is used to study grasping and dexterous manipulation, the Gifu Hand has been developed. Authors study not only a mechanical structure of the robot hand but also control methods for dexterous and autonomous work that human hands perform. The robotics technology is applied to a haptic interface and to a hand rehabilitation systems and medical care.