Abstract
Not only small size, high power and multi-degree of freedom but also flexibility is necessary for robot hands used in the environment with uncertainties. To obtain flexibility, actuators should have backdrivability. We designed a robot hand with backdrivabilty by using hydrostatic transmission and wire drive mechanism. The hydrostatic transmission can use high pressure with metal piping so that the robot hand can produce big torque with same size. And we facilitate the maintenance of the robot hand by designing the wire drive mechanism detachable. In this paper, we present the hydrostatic transmission for multiaxis drive for the robot hand with detachable mechanism and verified the backdrivability and evaluated the torque sensing abilty of the designed actuator. Also we show the specification of the designed robot hand.
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