Abstract
The purpose of this study is to develop an artificial finger that has versatile application fields such as humanoid robotics, prosthesis for disabled persons or industries. So far we have developed artificial fingers that has an underactuated mechanism based on our original mechanism called “double planetary gear system” (DPGS). The DPGS provides not only flexion-extension of the three joints of a finger, but also adduction-abduction controlled by two motors. It also has a stiffness adjuster to control joint stiffness with no sensory feedback. This paper presents some improvements of the finger parts followed by analytical and experimental considerations.
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