Development of artificial finger using the double planetary gear system

This paper shows mechanisms for an artificial finger based on the originally developed mechanism called “double planetary gear system” (DPGS). Using the DPGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is a crucial characteristic for fingers as end-effectors potentially interacting with external environment. The DPGS provides not only synergic flexion-extension of the three joints of a finger, but also adduction-abduction of the MP joint. Proposed finger mechanism is inherently safe due to being back-drivable with no electric device or sensor in the finger part. They are also rigorously solvable on kinematics and kinetics as shown in this paper.