FINGER APPARATUS BEING CLOSE TO HUMMAN FINGER AND ROBOT HAND HAVING THE FINGER APPARATUS

摘要

The finger mechanism simulating a human finger according to an embodiment of the present invention implements 3 degrees of freedom by combining 2 degrees of freedom of the MCP joint and 1 degree of freedom of the PIP joint by a driving unit located on one side while using a link-based mechanism. It is characterized in that it is possible to implement a modularized robot hand using such a finger mechanism as it is free to install additional sensors because the driving unit is not positioned at the node of the .