ABSTRACT Manipulation of objects after grasping is an important research topic for robotic hands. In this research, we propose a grip method based on the thenar opposition, which is rarely handled in the framework of conventional precision and power grasps and useful in withdrawing a large torque after the grip, and develop a robotic hand that can realize the grasp as well as normal grasps. To this end, we propose methods to evaluate the thenar opposition and the variety of grasps based on the joint alignment of the thumb. Based on these methods, we determine the kinematic structure of the robotic hand and develop it with gear train transmissions and a soft skin. Experiments are implemented to demonstrate that the robotic hand realizes various grasps and a gripping force sufficient to withstand the torque that opens tightly clamped hand valves. GRAPHICAL ABSTRACT

中文翻译：

---

具有鱼际抓握功能的多指机械手的研制

摘要 抓取后对物体的操纵是机器人手的一个重要研究课题。在这项研究中，我们提出了一种基于鱼际对立的抓握方法，该方法在传统的精确和力量抓握框架中很少处理，并且有助于在抓握后撤回大扭矩，并开发了一种可以实现抓握的机器人手以及正常的抓握。为此，我们提出了基于拇指关节对齐来评估鱼际对立和抓握多样性的方法。基于这些方法，我们确定了机械手的运动学结构，并用齿轮传动装置和柔软的皮肤对其进行了开发。实施实验以证明机械手实现了各种抓握和足够的抓握力，足以承受打开紧密夹紧的手阀的扭矩。