Soft finger-joint mechanism for human-care service robot

摘要

In this paper, we propose a soft finger-joint mechanism that gives a robot mult-directional passive compliance and the ability of the estimation of external torque. In this joint, we utilize silicone gum cushions as elestic elements to transmit motion from an actuator to an output link. The cusion contributes to both the generation of passive compliant motion for external torque and the estimation of the external torque. Based on the proposed mechanism, we developed the metacarpal-phalangeal joint (MP joint) of the finger of a robot for human-care services. In addition, it is confirmed in several experiments that the proposed mechanism exhibits the expected characteristics.