Development of a Robot Hand for Humanoids

In this study, we have developed a robot hand for humanoids which support humans’ daily life. This hand has three fingers (two fingers and one thumb that consist of three joints respectively). Each finger has only one motor, but each joint synchronizes by the wire drive and it works. The motor is connected with the wire through a load-sensitive continuously variable transmission. Experimental results show that this hand can grasp the object of a various shape and hold the light one. In addition, this hand can pick the one under the limited condition