2A2-B11 Development of a Human-sized Multifingered Hand with Detachable Wrist

In this paper, we proposed a human-sized multifingered robot hand with detachable mechanism at the wrist. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The robot hand can be split into the hand part and the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand is the size of 200(length) x 78(width) x 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the robot hand is shown by a motion control experiment.