Robotic hand with a new bending mechanism

Recently, the development of a versatile robotic hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism called "double-screw-drive mechanism" was applied to a robotic hand. The robotic hand with three fingers was built, and experiment was carried out, in which each fingertip was controlled so as to track the elliptical orbit. Then, the DSD robotic hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.