Abstract
In this paper, we designed an articulated robot finger with a round-belt twist mechanism combining a wire drive and a Twisted round-belt Actuator (TbA). This robot finger has the following two main features. First, we designed new mechanism，Variable-pitch Screw Module (VSM) to apply stretch to the round belt while adding twists to them at the same time. Second, we replaced acceleration sensors with encoders to stabilize output signals of joint angles. We explain the mechanism of this robot finger which are mentioned above. We show the results of experiments of fingertip force measurement. Finally, we show the results of a force-following control experiment for stepwise target values.
Published Version
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