Abstract
We manufacture an anthropomorphic hand with five fingers and control the fingers consisted of the multi-joints to grasp various objects by wire driven actuator. The state of grasping and holding objects can be detected using servomotor torque. There servo's torque was measured using the current sensor on the servomotor. In this paper we will observe the action and the response of each servomotor based on the current sensor data. We derived calibration method for current sensor. Additional, we did the tensile test of Kevlar yarn. Also, calculate the torque of servomotor used by current sensor data. Furthermore we show the mechanism of the designed robot hand.
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