Design of flexible joint using in soft robot hand

This paper presents the developments of finger joints imitating human's joint with soft material to get the adaptability about unstructured environment and unexpected impacts. Lots of researches about robot hand have showed the methods that robot can co-work with humans using high level control algorithm or soft materials, but there are limitation. To get the adaptability and robustness, it is necessary to make robot hand body having robustness and adaptability. So we have designed new finger joints. We shows analysis about human joint and finger joints, which can overcome unstructured environment and impact. And we shows how design joint ligament to get the adaptable grasping. After choice of joint and ligament design, test result about grasping test, resistance of impact and robustness will be showed.