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|1. (WO2017033885) MOTOR-DRIVEN HAND|
|Applicants:||THE UNIVERSITY OF ELECTRO-COMMUNICATIONS
Provided is a compact motor-driven hand that has sufficient pinch force and achieves natural motion. The motor-driven hand is provided with: a palm part; a finger part which is rotatably connected to the palm part by means of a joint rotational shaft; a motor which drives the finger part; a first wire part which has one end wound around an output shaft of the motor and which has the other end connected to a first working point of the finger part; and a second wire part which has one end wound around the output shaft of the motor and which has the other end fixed to a second working point of the finger part. The first wire part is connected to the first working point so that the distance between the first wire part and the joint rotational shaft increases when the motor is rotated in a first direction. The second wire part is connected to the second working point so that tension increases when the motor is rotated in a second direction opposite to the first direction.