Thumb mechanism and a humanoid hand incorporating this thumb mechanism

摘要

PROBLEM TO BE SOLVED: To provide a thumb mechanism capable of moving closer to the movement of a human thumb and a humanoid hand incorporating the thumb mechanism. When a force that rotates in the counterclockwise direction acts on a first bone member (thumb mechanism), the first bone member moves to a dotted line position while rotating in the counterclockwise direction. That is, the first bone member (thumb mechanism) performs an operation in which rotation around the center point P and lateral movement to the center point P1 are combined. On the other hand, when a force that rotates in the clockwise direction acts on the first bone member (thumb mechanism), the first bone member moves to the alternate long and short dash line position while rotating in the clockwise direction. That is, the first bone member (thumb mechanism) performs an operation in which rotation around the center point P and lateral movement to the center point P2 are combined. [Selection diagram] Fig. 6