This paper describes a novel finger mechanism that enables a robot to perform a gentle and dexterous motion. This finger contains three joints, in which the proximal (PIP) and distal intraphalangeal (DIP) joints are coupled rigidly, and the metacarpophalangeal (MP) joint has a multidirectional passive compliance that is adjustable as in humans. In the MP joint, two kinds of silicone-rubber cushions (A-SRC and B-SRC) are placed between a motor-driven disk and an output link. A-SRC plays three roles: 1) transmission of the rotational motion from the motor to the output link by the friction force between the surface of A-SRC and the motor-driven disk; 2) absorption of external forces from multiple directions by its elastic deformation; and 3) sensing the directions and magnitudes of external forces with the change in inside pressure. B-SRC adjusts the characteristics of joint compliance by pressing A-SRC against the motor-driven disk. We investigate the basic performance of this finger module through several experiments.
No takes yet. Share an insight, caveat, or question.
KAJIKAWA et al. (2010) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: