Design and realization of fingertiped and multifingered hand for pinching and rolling minute objects

The fingertips and fingerpads are very important organs in human hand for handling minute objects, for example, picking up, carrying and rolling them. Therefore, imitating the advantages of these organs can lead robot hand to improving dexterity of the finger operations. In this paper, dexterity of pinching and rolling the minute objects is brought by explicit designing of the tip part of fingers and the tactile sensors by pressure conductive gum on fingerpads. Finally, we actually show tasks of pinching up and rolling minute bolt and small plug by new fingertiped and multifingered hand.