Patent ID: 7795832
Filing Date: 2010-09-14
Classification: B25J

Abstract:
1. A robot hand including a plurality of finger mechanisms corresponding to a plurality of human fingers, respectively, each of said finger mechanisms being constituted by a plurality of phalange sections including a distal phalange section and a middle phalange section adjacent to the distal phalange section, said robot hand comprising: a fingertip rotating mechanism that causes the distal phalange section to rotate relative to the middle phalange section in two directions comprising an inward direction and an outward direction within a predetermined angular range, from a state where the distal phalange section is arranged in a straight line with the middle phalange section, and that includes at a connecting portion between the distal phalange section and the middle phalange section a single degree of freedom joint for allowing bending or stretching and also includes a driving mechanism that causes the joint to make a rotating motion within the predetermined angular range; and a rotation driving mechanism that causes a first finger mechanism corresponding to a human thumb among said finger mechanisms to rotate by a predetermined angle about a center line extending in a direction where the phalange sections constituting said first finger mechanism are arranged so that said first finger mechanism is fully facing the other finger mechanism, wherein