High-Power, Flexible, and Robust Musculoskeletal Hand (IROS 2017)

Title: High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid Authors: Shogo Makino, Kento Kawaharazuka, Masaya Kawamura, Yuki Asano, Kei Okada, Masayuki Inaba Accepted at IROS2017 arxiv - Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to manipulate objects because their hands are too weak to support their body. Strong hands are supposed to enable humanoid robots to act in much broader scene. Therefore, we developed new life-size five-fingered hand that can support the body of life-size humanoid robot. It is tendon-driven and underactuated hand and actuators in forearms produce large gripping force. This hand has flexible joints using machined springs, which can be designed integrall