著者

アハマドアティフ モハマドファウジ 鈴森 康一 大賀 淳一郎 後藤 達彦

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-L06, 2017 (Released:2017-11-25)

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This paper presents the intrinsic muscles of a Human-like Robotic Hand (HR-Hand), with a focus on dorsal interossei and palmar interossei muscles. Three links of palmar and four links of dorsal interossei muscles were fabricated according to human hand anatomy using 1.3 mm thin McKibben actuators. The experimental result using single index finger shows that the robotic hand could achieve palmar adduction and dorsal abduction and assist in flexion of fingers that imitate the actual function in the human hand.