Powerful and dexterous multi-finger hand using dynamical pulley mechanism
Tadaaki Hasegawa,Hironori Waita,Tomohiro Kawakami,Yoshinari Takemura,Tetsuya Ishikawa,Yuta Kimura,Chiaki Tanaka,Kenichiro Sugiyama,Takahide Yoshiike,Tadaaki Hasegawa,Hironori Waita,Tomohiro Kawakami,Yoshinari Takemura,Tetsuya Ishikawa,Yuta Kimura,Chiaki Tanaka,Kenichiro Sugiyama,Takahide Yoshiike
A multi-fingered hand that can grasp and manipulate a variety of objects is an option for assisting people in their daily lives. However, the range of torque output that can be handled by the multi-fingered hand is very limited compared to the capability of the human hand. In this paper, we introduce a new multi-fingered hand consisting of a dynamic pulley and a linkage mechanism, aiming to achiev...
