Gripper structure, artificial arm, and gripper device

摘要

PROBLEM TO BE SOLVED: To provide a gripper structure as a gripping function of an artificial finger including an artificial hand, a robot arm and the like, in which an object gripping force is improved and a slippery object or a fragile object can be gripped more stably and flexibly. A gripper structure 10 extends from a support frame 12, an exodermis 11 covering the support frame, a viscoelastic body 15 filled inside the exodermis, and a position corresponding to the tip of the support frame on the outside of the exodermis. It has a claw 13. The flexibility or elasticity of the exodermis is less than the flexibility or elasticity of the viscoelastic body. Also, the hardness of the exodermis is smaller than the hardness of the nail. [Selection diagram] Fig. 4