Abstract
This paper presents the power amplifier machine which accomplishes high gain and dexterity in human pinching motion. First, the concept of Man-Machine Synergy Effector (MMSE) is introduced from the point of forms of physical interactions among human, robot and surrounding environment. Next, Power Finger, and embodied tool of MMSE in human pinching motion is proposed. The development process of Power Finger is then introduced from basic concepts through mechanical and systematic installation involving control scheme.
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