High Performance Pneumatic Robot Hand with Variable Stiffness Finger Module

A robot hand is required to generate a large grasping force. Furthermore, it that one finger should possess multiple degrees of freedom and the fingertips be positioned freely grasp manipulate objects various sizes shapes. function adjust stiffness also control force realize stable grasping. The development with these functions at high level technical problem. We propose multi-degree-of-freedom module uses pneumatic cylinders parallel link mechanism. proposed has adjustable while maintaining force-to-weight ratio. In addition, was able estimate external acting on fingertip from differential pressure kinematics model. By using estimated for control, realized without sensor. This paper describes design method module. experimentally confirmed satisfy target specifications. compact