A parallel gripper with capability to use various tools

Many kinds of multi-fingered hand with many actuators and complex mechanisms have been developed to achieve diversity like human hand. The main focus of our research is achieving such diversity with simple mechanisms. A developed robot hand can use various planar tools which human uses in daily life. For example, scissors, nipper and pliers ...etc. In this paper, we introduce a new mechanism with a passive table at each fingertip and show demonstrations to confirm its feasibility to handle various tools. Furthermore, we improve its control system to ensure speed to perform human-like skills. An overall system including a dual manipulator system is also introduced.