FINGER MECHANISM AND HUMANOID HAND INCORPORATING SAME FINGER MECHANISM

摘要

A finger mechanism for a robot, an artificial hand, and the like, wherein a fourth bone member (14) of the bone members of the finger mechanism and corresponding to the distal phalanx comprises: a support portion (15) that is rotatably coupled to a third bone member corresponding to the middle phalanx by a rotational shaft (g5); and a nail portion (16). The nail portion (16) can freely rotate about a shaft (g7) at a right angle or a near right angle to the rotational shaft (g5), and a return mechanism (17) to return the rotated nail portion (16) to a reference position is provided between the support portion (15) and the nail portion (16). In this manner, in response to the amount of force applied to the fourth bone member (14), it is possible for only the nail portion (16) to rotate in a direction to easily grasp an object to be held.