A robot hand driven by hydraulic cluster actuators

To enable a humanoid robot to use its hand in the whole body motions, such as hanging, climbing or using a ladder, we developed a robot hand driven by a powerful but backdrivable cluster EHA. A miniature crescent trochoid pump with high discharging pressure was developed. The design of a direct casted cylinder manifold with low hydraulic friction is also presented. Results of basic experiments such as maximum output force, speed, position and force controllability and backdrivability are shown in the end of this paper. A movie of grasping demonstration is also attached.