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JRM Vol.11 No.4 pp. 269-273
doi: 10.20965/jrm.1999.p0269
(1999)

Paper:

Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I

Haruhisa Kawasaki and Tsuneo Komatsu

Department of Mechanical Systems and Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Received:
March 8, 1999
Accepted:
June 4, 1999
Published:
August 20, 1999
Keywords:
robot hand, anthropomorphic hand, mechanical design, humanoid
Abstract

This paper presents an anthropomorphic robot hand Gifu Hand I, to be used as a platform of robot hand for the study of dexterous manipulation. To perform grasping and manipulation like a human, the Gifu Hand I includes five fingers whose actuators are servomotors built in the palm and fingers. A thumb has four degreeof-freedom (DOF) and four joints, and fingers have three DOF and four joints. Two axes of joints near the palm cross orthogonally at one point like the human hand. The design concept of the anthropomorphic robot hand is presented and mechanisms and specifications of the developed robot hand are shown.

Cite this article as:
H. Kawasaki and T. Komatsu, “Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I,” J. Robot. Mechatron., Vol.11, No.4, pp. 269-273, 1999.
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