Fundamental Characteristics of a Finger Module for Human-care Robot

This paper describes a new human-sized robot finger with passive compliance for multi-directional external forces and with the ability to estimate these forces. In order to achieve the above merits, silicone gum cushions (SGC) are used effectively at the finger-tip and the MP joint (metacarpal-phalangeal joint). These SGCs have a hollow shape and deform easily. The elastic deformation of SGC enables the robot to react softly to the external forces exerted from multiple directions. Furthermore, these forces can be inferred by measuring the pressure in the SGCs hollow. The basic characteristics of the module´s passive compliance and its accuracy in sensing external forces are examined through several experiments. In addition, in order to confirm the possible application of this finger to a human-care services, we executed an experiment that simulates the motion of wiping a human body, taking advantage of the system´s merits