Development of a robotic finger with a branching tendon mechanism and sensing based on the moment-equivalent point

Abstract

In this paper, we developed an underactuated robotic finger with three joints having a branching tendon mechanism and a sensing system to estimate the wrench applied to the fingertip based on the moment-equivalent point (MEP). We proposed the design to combine the branching tendon mechanism and the principle of wrench sensing based on the MEP. The proposed system realized the measurement of the wrench applied to the fingertip using a simple force sensor and a wire-driven system. Furthermore, we experimentally confirmed their functioning.