Humanoid electric hand
A humanoid electric hand includes a metacarpophalangeal joint and an interphalangeal joint. The interphalangeal joint bends or extends together with a bending or extending operation of the metacarpophalangeal joint, by linking a finger motor for driving a finger to a worm deceleration mechanism, an output gear of which moves rotationally to bend or extend the metacarpophalangeal joint, and by linking the metacarpophalangeal joint to the interphalangeal joint via a link mechanism.
1. A humanoid electric hand comprising:
a metacarpophalangeal joint configured to perform a bending or extending operation;
an interphalangeal joint of a finger configured to bend or extend in response to the bending or extending operation;
a link mechanism including a driving link formed by two parts, the link mechanism linking the interphalangeal joint with the metacarpophalangeal joint and configured to bend or extend the interphalangeal joint in response to a bending or extending operation of the metacarpophalangeal joint;
a finger motor linked to the metacarpophalangeal joint for performing a bending or extending operation and configured to drive a worm deceleration mechanism including an output gear configured to rotate and bend or extend the metacarpophalangeal joint; and
elastic members linking the two parts of the driving link and comprising a first elastic member and a second elastic member, the first elastic member having a first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of bending a joint angle of the interphalangeal joint, the second elastic member having a second modulus of elasticity higher than the first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of-extending the joint angle of the interphalangeal joint.
2. The humanoid electric hand according to claim 1 , wherein
the second elastic member is configured to not extend when the first elastic member compresses.
3. The humanoid electric hand according to claim 1 , further including a thumb having a mechanism with two degrees of freedom for performing a turning operation and a bending or extending operation.
4. The humanoid electric hand according to claim 3 , wherein the mechanism of the thumb includes a thumb motor for performing the turning operation of the thumb, the thumb motor having a maximum output larger than that of the finger motor used for driving the bending or extending operation of each finger.
5. The humanoid electric hand according to claim 1 , further including a wrist portion having a mechanism with two degrees of freedom for performing a pronation or supination operation and a bending or extending operation of the wrist portion.
6. The humanoid electric hand according to claim 5 , wherein the mechanism of the wrist includes two motors and a differential deceleration mechanism for performing pronation or supination operation and the bending or extending operation of the wrist portion.