High-Power, Flexible, and Robust Musculoskeletal Hand (IROS 2017)

Title: High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid
Authors: Shogo Makino, Kento Kawaharazuka, Masaya Kawamura, Yuki Asano, Kei Okada, Masayuki Inaba
Accepted at IROS2017
arxiv - arxiv.org/abs/2403.17459
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to manipulate objects because their hands are too weak to support their body. Strong hands are supposed to enable humanoid robots to act in much broader scene. Therefore, we developed new life-size five-fingered hand that can support the body of life-size humanoid robot. It is tendon-driven and underactuated hand and actuators in forearms produce large gripping force. This hand has flexible joints using machined springs, which can be designed integrally with the attachment. Thus, it has both structural strength and impact resistance in spite of small size. As other characteristics, this hand has force sensors to measure external force and the fingers can be flexed along objects though the number of actuators to flex fingers is less than that of fingers. We installed the developed hand on musculoskeletal humanoid "Kengoro" and achieved two self-weight supporting motions: push-up motion and dangling motion.

[@QuestionMark43]

These videos are amazing! Could you post something longer format? Less cuts and more time viewing each clip (even if uninteresting content remains) would be amazing to see this incredible work.

[@did3d523]

no futur for this techno

[@voinea12]

No futur for your grammar

[@did3d523]

@@voinea12 !Je dit pas d'avenir pour cette techno , I think I speak more English than you french .. Lol