Specifications

Gifu Hand III consist of a palm, thumb, four fingers and control system.

Thumb has four joints and four DOF. That means every single joint is controlled independently (see Fig.1).

                                                            Fig.1 Thumb

 

The range of mevement of the joints is presented in the Table 1 bellow.

                                   Table 1. Range of movement

 

Finger has four joints with 3 DOF - fourth and third joints are connected with a four-bars link mechanism (see Fig.2).

                                                         Fig.2 Finger

  The range of joints' movement is given in the Table 2.

                            Table 2. Range of movement

Fig.3 shows the layout of control system.

Fig.3 Gifu Hand III control system

16 Channel Power Amplifier has an input of ±5V DC, amplification factor - 3.6.

Weight of Gifu Hand III - 1.4 kg

Number of DOF -16

Fingertip force - 1.8 N

Response frequency - 6 Hz

6- axis force sensors for fingertips - NANO 5/4, B L Autotech Ltd. (Optional)

Distributed tactile sensors - Nitta Co. (Optional)

 

KH Hand S1 consist of a palm, five fingers and control system.

Fingers have four joints and with 3 DOF. 1'st and 2'nd joints are controlled independently, and 3'rd and 4'th joints are linked with planner 4-bar linkage mechanism and, therefore, have 1 DOF (see Fig.1).

 Fig.1 Finger

The range of mevement of the joints is presented in the Table 1 bellow

Table 1. Joints' range of movement                                            

 

Fig.2 shows the layout of KH hand S1 control system.

Fig.2 KH Hand S1 control system 

16 Channel Power Amplifier has an input of ±5V DC, amplification factor - 3.6.

Weight of KH Hand S1 - 0.62 kg

 Number of DOF -15

 Fingertip force - 0.8 N

 Response frequency - 10 Hz or more

 6- axis force sensors for fingertips - NANO 5/4, B L Autotech Ltd. (Optional)

 6- axis force sensors XFS-18M20A25 for fingertips - Nitta Co. (Optional) 

 Distributed tactile sensors - Nitta Co. (Optional)