In our previous study we have developed the seven axes multi joint gripper (MJG) having a variable stiffness mechanism and have showed it achieves some dexterous grasping. In this paper, we discuss a hand having a number of mluti-joint fingers that was subsequently designed on the basis of the former MJG. The mechanism mainly consists of a serially connected differential gear systems controlled by only two actuators: one for driving all of the joints simultaneously and the other for adjusting stiffness of every joints all together. The hand succeeded envelope grasping of various shape objects with no sensory feedback. The experiments also revealed that the hand with three multi-joint finger successfully achieves transition from pinching to envelope grasping. It also discuss how joint stiffness should be set according to handling modes of the hand.
展开▼
