Patent ID: 6517132
Filing Date: 2003-02-11
Classification: A61F,B25J

Abstract:
A multifinger hand device comprising:a palm unit; and a plurality of finger mechanisms extending from said palm unit, each of said finger mechanisms comprising a plurality of link mechanisms successively joined from said palm unit by a plurality of joints; said finger mechanisms including a finger mechanism corresponding to a thumb and other finger mechanisms, the joints of said other finger mechanisms include first joints closest to said palm unit, said first joints being juxtaposed substantially transversely across said palm unit and having respective rotational axes about which the first joints are rotatable and which are oriented substantially perpendicularly to a flat palm surface of said palm unit, and wherein the link mechanisms of said other finger mechanisms include link mechanisms coupled to said first joints and closest to said palm unit, said link mechanisms being fixed to said palm unit such that transversely central axes thereof are inclined to each other and extend toward respective tip ends of said other finger mechanisms.