Patent ID: 7222904
Filing Date: 2007-05-29
Classification: B25J

Abstract:
1. A multi-finger hand device comprising: a hand attached to a tip end of an arm; at least four or more finger mechanisms provided extensionally from the hand, each of the plurality of finger mechanisms is structured to sequentially connect a plurality of interjoint elements via finger joints; biasing means for biasing the respective finger mechanisms to any one of a stretching direction and a bending direction; wire elements provided extensionally from the respective finger mechanisms to a hand side; and driving means for performing bending operations or stretching operations of the finger mechanisms by pulling the wire elements provided extensionally from the respective finger mechanisms against biasing forces of the biasing means; wherein the driving means comprises: two joining elements each having a pair of joining portions wherein at least four finger mechanisms of the plurality of finger mechanisms are classified into two pairs and each of the pair of joining portions joins an end on the hand side of each of the two wire elements provided extensionally from the two finger mechanisms of each of the two pairs with a space left therebetween, a holding element which can move in a pulling direction of the wire elements provided extensionally from the four finger mechanisms respectively and can rock around a supporting point provided between the two joining elements; and a plurality of link elements each holding rockably each of the two joining elements via a supporting point provided between the pair of joining portions and being joined rockably to the holding element; wherein when the bending operations or the stretching operations of the four finger mechanisms are performed, the wire elements provided extensionally from the four finger mechanisms are pulled by moving the holding element; and wherein the supporting points each provided between the pair of joining portions in each of the joining elements are located closer to any one of the joining portions.