Abstract
Robot hand had used hard joint for that precise movement and strong gripping force. This research used 2 kinds of soft material for joint. The materials are Dragon Skin 30 and Elastic Resin. I made finger model by 3D printer and incorporate 3 kinds of material for joints. First one is Standard Resin , second one is Dragon Skin 30, third material is Elastic Resin. By using a flexible joint, it was able to avoid external contact flexibly and successfully protected not only the contact target but also the robot hand itself. A comparison of gripping force between a finger with a soft joint and a finger with a hard joint showed that a finger with a soft joint had 36% stronger gripping force than a finger with a hard joint. Flexible joint could keep good gripping posture.
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