FINGER MECHANISM AND HUMANOID HAND INCORPORATING THE SAME

摘要

To provide a finger mechanism that is similar to a shape of human fingers and also similar to human activities, and provide a humanoid hand incorporating the same.SOLUTION: A link mechanism 20 comprises: a first link member 21 where a proximal end is pivoted in a freely turning manner to a connecting shaft g1 between the first bone member and the second bone member; a second link member 22 where the proximal end is pivoted in the freely turning manner to a shaft g2 of the tip of the first link member 21; and a third link member 23 where the proximal end is pivoted in the freely turning manner to a connecting shaft g3 between the second bone member 22 and the third bone member 23. The first link member 21 forms a plate shape being substantially overlapped with the second bone member 12 in side view in an extended position, that is, the state where a palm is opened.SELECTED DRAWING: Figure 2