NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist

Humanoid robots and robotic manipulators with good dexterity are promising to enhance the factory productivity in next generation. Dexterity of robotic manipulators can be achieved by equipping an anthropomorphic robot hand with multiple fingers. Additionally, in order to manipulate various tools that humans are using in daily life, the size and the exerting force of the robot hand should be similar to that humans are. In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The robot hand can be split at the wrist into the hand part and the actuator part. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand has the size of 200[mm](length) × 78[mm](width) × 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.