Design of a Flexible Multifingered Robotics Hand with 12 D. O. F and Its Control Applications

摘要

The focus of this paper is to design a flexible three fingered hand system with 12 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.6 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand