Wire-driven Flexible Finger Mechanism with Soft Exterior and Multi-joint Skeletal Structure using Coil Spring

We proposed the wire-driven flexible finger mechanism with soft exterior and multi-joint skeletal structure using coil springs in order to touch living bodies, such as human bodies and fragile fruits. Skeleton members are inserted between winding wires of the coil springs. A wire run through the inside coil springs and soft exterior is formed outside of them. We also developed the robot hand of the human mimetic musculoskeletal humanoid ”Kengoro” with the finger mechanism we proposed.