Development of a Lightweight High-speed Multifingered Hand

This paper introduces a newly developed high-speed multifingered robotic hand. The hand has an eightaxis and 3-fingers. A newly developed small harmonic drive gear and a high-power mini actuators are equipped in each finger link. Also, a strain gauge sensor is equipped in each joint. The weight of the hand module is only 0.8kg, but high-speed motion and high-power grasp are possible. It can close the joints at 180deg/0.1s, and the fingertips can output force of about 28N. The hand system are controlled by a massively parallel vision system.