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1. (WO2017033885) MOTOR-DRIVEN HAND

Pub. No.:    WO/2017/033885    International Application No.:    PCT/JP2016/074365
Publication Date: Fri Mar 03 00:59:59 CET 2017 International Filing Date: Tue Aug 23 01:59:59 CEST 2016
IPC: B25J 15/08
Applicants: THE UNIVERSITY OF ELECTRO-COMMUNICATIONS
国立大学法人電気通信大学
Inventors: YOKOI, Hiroshi
横井 浩史
YE, Hesong
叶 鶴松
JIANG, Yinlai
姜 銀来
MORISHITA, Soichiro
森下 壮一郎
SAKODA, Shintaro
迫田 辰太郎
Title: MOTOR-DRIVEN HAND
Abstract:
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.