Figure 6
Mechanism and sensors of robotic hand. (A) Overview, (B) wrist and finger base (\({\mathrm{\varnothing }}_{6}\): angle of finger), (C) forearm links (F-Links) and upper links (U-Links) of fingers, (D) angle in roll direction around J5 (\({\mathrm{\varnothing }}_{6}\)), (E) axes of finger base and fingers, (F) angles of finger axes (\({\mathrm{\varnothing }}_{7}-{\mathrm{\varnothing }}_{10}\)) and position of ultrasonic sensor on finger base, (G) force sensors inside U-Link, (H) action of U-Link for touching object, (I) force sensor on front side between two sponge rubber parts, (J) force sensor on back side between two sponge rubber parts, (K) arrangement of sensors (FS1 and FS2 are force sensors and MS1-MS3 are microswitches), (L) touch sensor system for raking an object designed in 3D-CAD, and (M) touch sensor system designed in 3D-CAD.
