Finger Mechanism, Robot Hand and Robot Hand Controlling Method

Abstract

A finger mechanism includes a first bone member and a second bone member, a first rotation core that rotatably couples the first bone member and the second bone member at end portions in a direction of a length thereof, an extensor tendon that is disposed on a side where the second bone member extends with respect to the first bone member and extends in the direction of the length of the first bone member and the second bone member, a first extensor tendon guide that is provided on both of the first bone member and the second bone member and guides the extensor tendon so that the extensor tendon is in contact with a part of a surface of the first rotation core, an extensor that is connected to the extensor tendon and extends and flexes the extensor tendon, a flex tendon that is disposed on a side where the first bone member flexes with respect to the second bone member and extends in the direction of the length of the first bone member and the second bone member, a first flex tendon guide that is provided on both of the first bone member and the second bone member and guides the flex tendon so that the flex tendon is in contact with another part of the surface of the first rotation core, and a flexor that is connected to the flex tendon and extends and flexes the flex tendon.

Dependencies are inferred from the claim text.