Human Mimetic Forearm and Hand Design with a Radioulnar Joint and Flexible Machined Spring Finger for Human Skillful Motions
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura, Shinsuke Nakashima, Yuki Asano, Kei Okada, and Masayuki Inaba
Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Humans have characteristic forearm and hand structures, and most of the previously developed humanoids are not equipped with them. The human forearm has a radioulnar structure composed of two long thin bones, and the human hand has flexibility to move to fit the object and strength to support the human body. Therefore, we develop a novel miniature bone-muscle module integrating bone and muscle structures, and realize the human radioulnar structure. In addition, we develop a novel finger, which is flexible and robust, by using machined springs. We integrate them and construct a forearm and hand system which imitates human joint structures, muscle arrangements, proportion, and weight. Using this forearm and hand system, we realize several human skillful motions.
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