Artificial Finger Consisting of Closed Linkages and a Single Planetary Gear System: Control of Reaction Force Vector Yielded at a Fingertip

The authors have developed a five-finger robot hand with artificial fingers consisting of closed linkages and a Single Planetary Gear System. Recently, we developed a new finger mechanism equipping a hyperextension joint at the fingertip that acts passively by two torsion springs. This paper aims to investigate how the hyperextension joint allows to control the reaction force vector that the fingertip applies to an external object in kinematic & kinetic theoretical point of view.