Patent ID: 7445260
Filing Date: 2008-11-04
Classification: B25J,Y10S

Abstract:
1. A gripping type hand, comprising: a plurality of finger mechanisms provided respectively with finger joints, actuators for driving said finger joints, and links supported by said finger joints and operating under driving force of said actuators; an operation controlling section capable of respectively controlling said actuators of said plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of said finger joints of said plurality of finger mechanisms; and strain detecting sections provided respectively for said plurality of finger mechanisms and detecting strains generating in said links due to force applied to said finger mechanisms; said operation controlling section coordinately controlling said actuators of said plurality of finger mechanisms to adjust gripping force generated by said plurality of finger mechanisms, based on said operating positions of said finger joints detected by said position detecting section and said strains of said links detected by said strain detecting sections; a contact position calculating section for determining a contact position on each of said plurality of finger mechanisms at which each finger mechanism contacts a gripped object, based on said operating positions of said finger joints detected by said position detecting section and said strains of said links detected by said strain detecting sections; wherein said contact position calculating section determines a time-base varying amount of said contact position on said each finger mechanism during a period when said hand grips said gripped object; and wherein said operation controlling section adjusts said gripping force, based on said varying amount of said contact position.