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This paper shows mechanisms for an artificial finger based on the originally developed mechanism called “double planetary gear system” (DPGS). Using the DPGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is a crucial characteristic for fingers as end-effectors potentially interacting with external environment. The DPGS provides not only synergic flexion-extension of the three joints of a finger, but also adduction-abduction of the MP joint. Proposed finger mechanism is inherently safe due to being back-drivable with no electric device or sensor in the finger part. They are also rigorously solvable on kinematics and kinetics as shown in this paper.
Date of Conference: 3-7 July 2011