Abstract
We have developed a humanoid hand for humanoid robot and handicapped people. This hand is called a TUAT/Karlsruhe Humanoid Hand. This hand has unique structure for a lightweight with Self-adjustment functionality by my original design, it called a Harmonic link system. I used this design for an artificial arm. It is necessary to use a glove of the natural appearance to make an artificial arm. However, I have to make the design of the hand a small size to use this glove. So I did the design to make the hand small. The sizes of fingers were small to 89%, the size of palm was small to 64.9%. It was also possible to wear the cosmetic glove made originally.
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