MULTIFINGERED HAND DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a multifingered hand device configuring a compact thumb mechanism and achieving a sufficient grip force.;SOLUTION: The thumb mechanism 5 includes carpometacarpal joints 19 and 20 rotated by two shafts of a first rotating shaft 191 and a second rotating shaft having an axis crossing the axis of the first rotating shaft 191; a first drive cylinder 29 for driving the rotation of the first rotating shaft 191; and a second drive cylinder 34 for driving the rotation of the second rotating shaft. The second rotating shaft is formed into hollow and disposed in a base 4, and the first drive cylinder 29 is disposed within the second rotating shaft.;COPYRIGHT: (C)2011,JPO&INPIT