Development of multi-fingered universal robot hand with torque limiter mechanism

A multi-fingered universal robot hand has been developed in order to construct the platform of humanoid hand study. We also have developed a small and five-fingered robot hand. The robot hand is designed to protect the small driving system from a large external force. This protection mechanism is small enough to be installed in the joint driving mechanism and adaptable enough to deal with various load. This paper describes basic and unique specifications of the robot hand, and the effectiveness is confirmed by fundamental experiments.