Abstract
The actuator for robot hand need to be powerful enough to hold its whole weight and flexible enough to avoid damage by the collision with the environment. We developed a back drivable 14 degrees of freedom electro hydrostatic cluster actuator for tendon driven robot hand combining direct casted cylinder manifold and trochoid gear pump with crescent separator. Its basic design and prototype was showed previously. In this paper, we finished it as a cluster actuator and evaluated its static property such as maximum output force, moving speed and their dispersion. Its ability of force measurement is also evaluated.
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