JP2010064169A - Finger structure of artificial hand clipping article, and artificial hand clipping method of article - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a finger structure of an artificial hand capable of stably clipping articles of various shapes, especially a thin article such as paper adhered to a floor surface and the like and a small article with a curved end surface such as a clip, and having simple components, and to provide an artificial hand clipping method. <P>SOLUTION: The finger structure of the artificial structure clips an article placed on a plane surface by moving at least one finger of two fingers. The one finger 1 has a recessed curved surface portion 12 for scooping up the article at a tip end portion on which the article abuts, and the other finger 2 has a projecting curved surface portion 22 pressing the article against the tip end portion on which the article abuts. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a finger structure of an artificial hand for holding an object and a method for holding an object. More specifically, the present invention relates to a finger structure and a holding method of artificial hands such as a robot hand, a manipulator, and a magic hand that hold and hold an object placed on a plane with two artificial fingers.

  Conventionally, robots that grip and hold objects are used as industrial robots in production lines of various factories, and are used by attaching a hand suitable for the object to be handled (for example, (See Patent Document 1). If there are many kinds of target objects, it is normal to use the hand by changing the hand with an auto tool changer according to the target object.

Alternatively, for the purpose of grasping a large and small variety of objects with one hand, a hand (see, for example, Patent Document 2) or a robot that grasps a variety of objects by combining three fingers. A hand has been devised in which a finger member located at the tip of a finger mechanism in the hand is provided with a nail that resembles a human and a nail and a finger are used separately to hold a large and small object (see, for example, Patent Document 3). .)
JP-A-5-253880 JP 2004-90134 A JP 2005-335025 A

  When using a robot that grips an object or the like in a space where people coexist, there are various types of objects to be gripped as well as various types. Therefore, it is difficult in terms of cost to use the hand by replacing it with an auto tool changer according to the object, and it is preferable that various objects can be grasped and held with as few hands or fingers as possible.

  In particular, with a conventional robot hand, a thin object such as paper placed on a flat surface such as a floor surface can be gripped without scratches or creases, and a small object such as a clip with a curved end surface can be held. Difficult to do.

  The conventional robot hand is complicated and expensive as a magic hand used by a disabled person in a wheelchair, for example.

  The present invention has been made in view of the problems of the above-described conventional robot hand, and in a space where people coexist, various shapes of objects, particularly thin objects such as papers that are in close contact with the floor surface, and small clips and the like. It is another object of the present invention to provide a finger structure of an artificial hand having a simple component and a method for holding an artificial hand, which can stably hold an object having a curved end surface.

  The finger structure of the artificial hand for holding the object of the present invention made to solve the above problems is an artificial hand for holding an object placed on a plane by moving at least one of two fingers. The one finger has a concave curved surface part that scoops up the object at a tip part that abuts on the object, and the other finger has a concave part on the tip part that abuts on the object. It has a convex curved surface part that presses an object.

  In the finger structure, the concave curved surface portion of the one finger may be formed of an elastic material, and may be a concave curved surface by being brought into contact with the flat surface and elastically deforming.

  Moreover, it is preferable that the front-end | tip of the said concave curved surface part is a knife edge shape.

  Moreover, it is preferable that the curvature radius of the said convex curved surface part and the said concave curved surface part is substantially the same.

  Moreover, it is preferable that the said convex-curved surface part is formed with the friction material.

  Moreover, it is preferable that the said convex-curved surface part is formed with the elastic material.

  Further, the one finger has a hole into which the rotation shaft of the actuator is inserted into the rear end portion, and the other finger is inserted into the rear end portion with another rotation shaft parallel to the rotation shaft of the actuator. It is preferable to have a hole so that the one finger and the other finger can be moved in the same plane.

  An artificial hand holding method for holding an object according to the present invention for solving the above-described problem is an artificial hand holding an object placed on a plane by moving at least one of two fingers. A hand holding method, wherein the concave curved surface portion of one finger having a concave curved surface portion at a distal end portion is opposed to the end portion of the object on the plane, and the other finger having a convex curved surface portion at a distal end portion is arranged. The opposite pressing step of pressing the end of the object with the convex curved surface portion, and the one finger and / or the other finger are moved in parallel to the plane so that the distance between the one finger and the other finger is narrowed. And scooping up the end portion of the object pressed by the convex curved surface portion of the one finger at the concave curved surface portion of the other finger.

  Further, in the above holding method, the concave curved surface portion of the other finger is formed of an elastic material, becomes a concave curved surface by being elastically deformed by being in contact with the flat surface, and the concave curved surface is detected by a curvature radius detecting means. A curvature radius detecting step for detecting the curvature radius of the part may be included.

  One finger of the finger structure of the artificial hand according to the present invention has a concave curved surface portion that scoops up the object at a tip portion that comes into contact with the object, and the other finger has a tip portion that comes into contact with the object. Since it has the convex curved surface part which presses the said object, a concave curved surface part can be easily sunk into the lower side of the object on the plane pressed by the convex curved surface part. As a result, it is possible to pinch and grip a thin sheet such as paper on a plane without scratching or folding. In addition, small objects such as clips on a flat surface and curved end surfaces can be held and gripped.

  By forming the concave curved surface portion into a concave curved surface by being brought into contact with a flat surface and elastically deforming, the safety at the time of contact with a person is increased. Further, the reaction force by the concave curved surface portion can be detected by the current of the drive motor or the like so that the height can be controlled in the plane direction so that the concave curved surface portion has a curvature radius suitable for scooping up paper or the like.

  By making the tip of the concave curved surface portion have a knife edge shape, the concave curved surface portion can be more easily embedded under the object on the plane pressed by the convex curved surface portion.

  By making the curvature radius of the convex curved surface portion and the concave curved surface portion substantially the same, it is possible to uniformly hold the object between the convex curved surface portion and the concave curved surface portion. As a result, a thin sheet such as paper is not damaged or creased.

  When the convex curved surface portion is formed of a friction material, the object on the plane can be surely pressed by the convex curved surface portion and can be slid toward the concave curved surface portion. As a result, the object can be reliably scooped up by the concave curved surface portion.

  When the convex curved surface portion is formed of an elastic material, when the object is sandwiched between the concave curved surface portion and the convex curved surface portion, the convex curved surface portion deforms along the concave curved surface portion. Can be held in a large state.

  One finger has a hole in the rear end where the rotation shaft of the actuator is inserted and supported, and the other finger has a hole in the rear end where another rotation shaft parallel to the rotation axis of the actuator is inserted. Since the one finger and the other finger can be moved in the same plane, a so-called gripper-type finger structure with one degree of freedom can be obtained. As a result, the actuator can be configured with only a motor and gears.

  In the artificial hand nipping method according to the present invention, the concave curved surface portion of one finger having a concave curved surface portion at the distal end portion is opposed to the end portion of the object on the plane, and the convex curved surface portion is disposed at the distal end portion. The opposite pressing step of pressing the end portion of the object with the convex curved surface portion of the other finger, and the one finger and / or the other finger on the plane so that the distance between the one finger and the other finger is narrowed And scooping up the end portion of the object pressed by the convex curved surface portion of the other finger at the concave curved surface portion of the one finger. A thin sheet such as paper can be pinched and gripped without scratching or folding. In addition, small objects such as clips on a flat surface and curved end surfaces can be held and gripped.

  The concave curved surface portion of one finger is formed of an elastic material, becomes a concave curved surface by being elastically deformed by contacting with the flat surface, and a radius of curvature detection for detecting a radius of curvature of the concave curved surface portion by a curvature radius detecting means. By having a step, safety when touching a person is increased. Further, the reaction force by the concave curved surface portion can be detected by the current of the drive motor or the like so that the height can be controlled in the plane direction so that the concave curved surface portion has a curvature radius suitable for scooping up paper or the like.

Hereinafter, embodiments of the finger structure of an artificial hand according to the present invention will be described in detail with reference to the drawings.
(Embodiment 1)
FIG. 1 is a perspective view showing a state in which a thin sheet placed on a plane is held and gripped by the finger structure of this embodiment, FIG. 2 is a top view of FIG. 1, and FIG. FIG.

  The finger structure of the present embodiment includes a finger 1 and a finger 2 as shown in FIGS. One finger 1 is provided at the tip of one finger of a robot hand (not shown), for example, to hold an object (a sheet-like object placed on the plane P) S. Similarly, the other finger 2 is provided at the tip of a finger different from the finger of the robot hand including the finger 1.

  By moving the finger 1 in the direction of arrow A and the finger 2 in the direction of arrow B with an actuator (not shown), the distance between the finger 1 and the finger 2 is narrowed to hold the object.

    The finger 1 includes a finger main body 11 and a concave curved surface portion 12 connected to a tip portion thereof. The material of the finger body 11 is not particularly limited, but the concave curved surface portion 12 is preferably formed of metal or resin. This is because, in the case of a friction coefficient of metal or resin, paper, a clip, etc. can slide up. The concave curved surface portion 12 is preferably formed of a rigid body. When you dive between a paper or clip and a flat surface, it will not be deformed, so there will be no wrinkles or creases. The radius of curvature of the concave curved surface 12a of the concave curved surface portion 12 is desirably in the range of 50 to 200 mm. This is based on the fact that the concave curved surface portion 12 having various radii of curvature was made and tested, and when it was in the range of 50 to 200 mm, a sheet-like object, a clip, or the like could be reliably gripped. Further, even when the tip of the concave curved surface portion 12 is in contact with the plane P such as the floor obliquely, the tip is a curved line 12b so that the tip and the plane P are in contact. Furthermore, the tip of the concave curved surface portion 12 has a so-called knife edge shape that becomes thinner toward the front so that the tip can sink into the object S and scoop up.

  The finger 2 includes a finger main body 21 and a convex curved surface portion 22 connected to the tip portion thereof. The material of the finger body 21 is not particularly limited, but the convex curved surface portion 22 is preferably formed of rubber, sponge or the like. This is because in the case of a friction coefficient such as rubber or sponge, paper or a clip can be pressed and moved by a frictional force. Moreover, it is preferable that the convex curve part 22 is formed with an elastic body. When the object is sandwiched between the convex curved surface portion 22 and the concave curved surface portion 12, the convex curved surface portion 22 is deformed so as to follow the concave curved surface 12a of the concave curved surface portion 12, so that the object is sandwiched with a large contact area. Can do. The curvature radius of the convex curved surface 22a of the convex curved surface portion 22 is substantially the same as the curvature radius of the concave curved surface 12a.

Next, a method for holding the sheet-like object S on the plane P using the finger structure of the robot hand will be described.
<Confrontation pressing step> The finger 1 is brought into contact with the plane P with the tip 12b of the concave curved surface portion 12 pointing to the sheet-like object S so that the finger 1 faces the end of the object S, and the finger 2 is placed on the sheet-like object S. The convex curved surface 22a of the convex curved surface portion 22 is brought into contact with the finger 1 so that the end of the object S is pressed on the end (see FIGS. 1 (a) to 3 (a)).
<Screwing up step> When the finger 2 is moved in the direction of the finger 1 (arrow B direction) while pressing the object S against the plane P with the finger 2, the object S moves with the finger 2 due to the frictional force. It is scooped up along the concave curved surface 12a (refer FIG.1 (b)-FIG.3 (b)). In this step, the finger 1 may be stopped, or may be moved in parallel with the plane P in the direction of the finger 2 (arrow A direction).
<Nipping Step> The finger 2 is further moved in the direction of the finger 1 while pressing the object S against the plane P with the finger 2, and the object S is sandwiched between the finger 1 and the finger 2 (FIG. 1 (c) to FIG. 1). (See 3 (c).) At this time, if the convex curved surface portion 22 of the finger 2 is formed of an elastic body, it deforms along the concave curved surface 12a of the finger 1, so that the sheet-like object S can be held with a large contact area. it can. In this step as well, the finger 1 may stop or move in the direction of the finger 2 parallel to the plane P.

  According to the pinching method of the present invention, the thin object S such as paper can be pinched with the finger 1 and the finger 2 without giving a scratch or a crease. Further, through each step, since the relative movement of the fingertips of the finger 1 and the finger 2 is in a direction facing each other on the same plane when viewed locally, it is possible to form a hand with a simple axis configuration (examples described later) reference.).

  Next, with reference to FIGS. 4 to 6, a method for holding a small clip such as a clip having a small end surface on the plane P (hereinafter referred to as a clip R) on the plane P using the finger structure of the present embodiment will be described. To do.

4 is a perspective view for explaining a process of pinching and gripping a clip placed on a plane with the finger structure of this embodiment, FIG. 5 is a top view of FIG. 4, and FIG. FIG.
<Confrontation pressing step> The finger 1 is brought into contact with the plane P in a direction in which the tip 12b of the concave curved surface portion 12 points to the clip R to confront the end of the clip R, and the finger 2 is far from the finger 1 of the clip R. The convex curved surface 22a of the convex curved surface portion 22 is brought into contact with the finger 1 so that the end of the clip R is pressed on the other end (see FIGS. 4 (a) to 6 (a)).
<Screwing step> When the finger 2 is moved in the direction of the finger 1 (arrow B direction) while pressing the clip R against the plane P with the finger 2, the clip R moves together with the finger 2 due to frictional force. It is scooped up along the concave curved surface 12a (see FIG. 4B to FIG. 6B). In this step, the finger 1 may be stopped, or may be moved in parallel with the plane P in the direction of the finger 2 (arrow A direction).
<Nipping Step> The finger 2 is further moved in the direction of the finger 1 while pressing the clip R against the plane P with the finger 2, and the clip R is sandwiched between the finger 1 and the finger 2 (FIG. 4 (c) to FIG. 4) (See 6 (c).) At this time, if the convex curved surface portion 22 of the finger 2 is formed of an elastic body, the clip R is deformed along the concave curved surface 12a of the finger 1, so that the clip R can be held with a large contact area. In this step as well, the finger 1 may stop or move in the direction of the finger 2 parallel to the plane P.

According to the pinching method of the present invention, even a small object such as a clip or a coin and having a curved end surface can be pinched by changing the direction of contact to a large direction, so that it can be stably pinched. Further, through each step, since the relative movement of the fingertips of the finger 1 and the finger 2 is in a direction facing each other on the same plane when viewed locally, it is possible to form a hand with a simple axis configuration (examples described later) reference.).
(Embodiment 2)
The finger structure of the present embodiment is the same as the finger structure of the first embodiment except that the finger 1 of the first embodiment is changed to the finger 1 ′ shown in FIGS. FIG. 7A is a perspective view of the finger 1 ′, and FIG. 7B is a top view of the finger 1 ′. FIG. 8A is a C arrow view (front view) in FIG. 7B, and FIG. 8B is a D arrow view (side view) in FIG. 7B.

  The finger 1 'is provided at the tip of one finger of a robot hand (not shown) as a substitute for the finger 1 of the first embodiment so that the object can be pinched. Operates in pair with 2 to enable the object to be held and gripped. For a method for pinching a thin object such as paper placed on a flat surface such as a floor and a method for pinching a small object such as a clip with a curved end surface, the finger 1 and the finger 2 of the first embodiment are paired. Therefore, the description is omitted. The finger 1 ′ is described below because the control method for bringing the finger 1 ′ into contact with a plane such as the shape, material, and floor surface is different.

  The finger 1 ′ has a finger body 11 ′ and a concave curved surface portion 12 ′. The material of the finger body 11 ′ is not particularly limited, but the concave curved surface portion 12 ′ has an elastic coefficient such that the curved surface 12 ′ a is deformed into a radius of curvature of about 50 to 200 mm when contacting the flat surface such as the floor surface from the vertical direction. It is formed of an elastic body such as rubber having In general, an elastic body such as rubber has a coefficient of friction that increases as the hardness becomes soft. Therefore, the concave curved surface portion 12 ′ is formed of a material that has been reduced in friction by surface treatment or solid lubricant. Yes.

  Even when the tip of the concave curved surface portion 12 'is in contact with the floor or the like obliquely, the tip of the concave curved surface portion 12' is curved 12'b in order to provide a portion where the tip of the concave curved surface portion 12 'contacts the floor or the like. Furthermore, the angle θ formed by the curved surface 12′a of the concave curved surface portion 12 ′ and the surface 12′c facing away from the curved surface 12′a is an acute angle.

  FIG. 9 shows a state where the finger 1 ′ is in contact with a plane P such as a floor surface. The concave curved surface portion 12 ′ is formed of an elastic body, and the angle θ formed by the curved surface 12′a and the surface 12′c facing away from the curved surface 12′a is an acute angle. Therefore, when the finger 1 ′ is brought into contact with the plane P from the vertical direction, Due to the reaction force from the plane P, the curved surface 12'a becomes a concave curved surface.

  By using the concave curved surface portion 12 'as an elastic body, not only the safety when contacting the person is increased, but also the control for bringing the fingertip into contact is facilitated.

  FIG. 10 is a control flowchart for bringing the finger 1 ′ into contact with the plane P. In advance, the current value of the finger drive motor necessary for the curved surface 12′a of the concave curved surface portion 12 ′ to be deformed to a curvature radius of about 50 to 200 mm is measured and set in the controller. In actual control, the fingertip is moved above the floor surface (S101), then the finger is lowered perpendicularly to the floor surface (S102), and then the current value of the finger drive motor is measured (S103). Determines whether the value exceeds the set value (S104), and descends until the set value is exceeded. The control loop from S102 to S104 is desirably repeated at a control cycle of several tens of milliseconds at the latest in order to avoid excessive collisions.

By the above control, the position of the finger 1 ′ is controlled so that the curved surface 12′a of the concave curved surface portion 12 ′ has a curvature suitable for scooping up paper or the like. In this control, the control loop is formed by the current value of the motor. However, the control loop may be formed by directly measuring the radius of curvature by attaching a strain gauge to the curved surface 12'a. In this control, an electric motor is assumed as the actuator. However, when the actuator is driven by a pneumatic or hydraulic actuator, a control loop may be formed by the pressure value.
Example 1
Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 11 is a perspective view of a robot hand to which the finger structure of the robot hand according to the present invention is applied, and shows a state where a thin object S such as paper placed on the floor surface P is nipped. 12 is a top view of the finger 3 having the concave curved surface portion 32 that scoops up the object S at the tip, FIG. 13 (a) is a view taken along arrow E in FIG. 12, and FIG. 13 (b) is FIG. It is F arrow line view (side view) in FIG. 14 is a top view of the finger 4 having a convex curved surface portion 42 that presses the object S at the tip, FIG. 15 (a) is a view as viewed from an arrow E in FIG. 14, and FIG. It is F arrow line view (side view) in FIG.

  As shown in FIG. 11, the robot hand of this embodiment is of a gripper type and is provided horizontally at the tip of a horizontal articulated robot (not shown). An object is sandwiched between two fingers 3 and 4. Hold it. The finger 3 rotates around a rotating shaft (not shown) connected to the hole 33, the finger 4 rotates around a rotating shaft (not shown) connected to the hole 43, and a gear attached to each rotating shaft. Each finger opens and closes symmetrically with respect to the vertical plane between the fingers (not shown). Opening and closing operation is possible with one actuator (degree of freedom is 1).

  The finger 3 is first bent into a dogleg shape, the tip is straight, and has a concave curved surface portion 32 at the lower portion of the tip portion. The concave curved surface portion 32 has a concave curved surface 32a having a radius of curvature of about 70 mm so that paper or the like can be easily picked up, and the tip is a curved line 32b. Further, the tip of the finger 3 in the longitudinal direction is a curved line 31a so that a depressed button or the like can be pressed. In addition, all the fingers 3 including the concave curved surface part 32 are formed with the same resin material.

  The finger 4 is first bent into a dogleg shape and has a straight tip, and has a convex curved surface portion 42 below the tip portion. The convex curved surface portion 42 has a convex curved surface 42 a along the concave curved surface 32 a of the finger 3. Further, the tip of the finger 4 in the longitudinal direction is a curve 41a so that a depressed button or the like can be pressed. The finger 4 is made of the same resin material as the finger 3 except for the convex curved surface portion 42, and the convex curved surface portion 42 is made of rubber in order to obtain a sufficient frictional force.

When using a robot hand composed of two fingers as described above and holding a slightly large cylindrical object such as a cup, hold it by pinching it at the center of the hand that is bent in the shape of the square. Can do. For example, a small rod-like object such as a pencil in a pen stand can be sandwiched and held between the flat portion 31 at the tip of the finger 3 and the flat portion 41 at the tip of the finger 4. Further, if the concave curved surface portion 32 and the convex curved surface portion 42 according to the present invention are used, it is possible to grip a paper S, a clip or the like on the plane P as shown in FIG.
(Example 2)
This embodiment is an application example to a magic hand of a welfare tool that performs work support such as manually picking up a dropped object. FIG. 16 is a perspective view of the magic hand of the present embodiment. FIG. 17 is a front view and a side view of the finger 5 and the finger 6 of FIG.

  The magic hand is configured by connecting the finger 5 and the finger 6 with a rotating shaft 7 and further combining a hollow shaft of about 70 cm and an operation part (not shown).

  The finger 5 is first bent into a dogleg shape and has a concave curved surface portion 52 at the tip. The concave curved surface portion 52 has a concave curved surface 52a having a radius of curvature of about 50 mm so that paper or the like can be easily picked up, and the tip is a straight line 52b. When the hand is brought into contact with the floor surface P from obliquely above, the angle formed by the straight line 52b and the longitudinal direction of the finger 5 is an acute angle α so that the straight line 52b contacts the floor surface P with a line.

  The finger 6 is first bent into a dogleg shape and has a convex curved surface portion 62 at the tip. The convex curved surface portion 62 has a convex curved surface 62a along the concave curved surface 52a of the finger 5, and the tip is a straight line 62b. Further, when the hand is brought into contact with the floor surface P from obliquely above, the angle formed by the straight line 62b and the longitudinal direction of the finger 6 is an acute angle α so that the straight line 62b contacts the floor surface P with a line.

  In the magic hand of the present embodiment, the concave curved surface portion 52 and the convex curved surface portion 62 are connected obliquely with respect to the fingertip direction (longitudinal direction of the finger) as described above. This is because the magic hand is often used to remove an object that has fallen on the floor from the wheelchair, so that it is easy to remove the magic hand from an oblique direction.

  The present invention can be used for a robot hand of a robot that grips an object in a space where a person coexists. Further, it can be used for a robot hand of an industrial robot that performs a transfer operation or the like.

It is a perspective view which shows the process of pinching and holding the thin sheet | seat mounted on the plane with the finger structure of Embodiment 1. FIG. FIG. 2 is a top view of FIG. 1. FIG. 2 is a side view of FIG. 1. It is a perspective view which shows the process of pinching and holding | gripping the clip mounted on the plane with the finger structure of Embodiment 1. FIG. FIG. 5 is a top view of FIG. 4. FIG. 5 is a side view of FIG. 4. (A) and (b) are the perspective view of the finger | toe 1 'of Embodiment 2, and a top view. (A) and (b) are the C arrow line view (front view) and D arrow line view (side view) in FIG.7 (b). It is a figure which shows a mode that the finger | toe 1 'of Embodiment 2 contacts the plane P. 10 is a control flowchart for bringing a finger 1 ′ of Embodiment 2 into contact with a plane P. It is a perspective view of the robot hand to which the finger structure of Example 1 is applied. 3 is a top view of a finger 3 in Example 1. FIG. (A) and (b) are E arrow views and F arrow views in FIG. FIG. 3 is a top view of the finger 4 of Example 1. (A) and (b) are E arrow views and F arrow views in FIG. It is a perspective view of the magic hand to which the finger structure of Example 2 is applied. (A) and (b) are the front views and side views of the fingers 6 and 5 of FIG.

Explanation of symbols

1, 1 ′, 3, 5... One finger 12, 12 ′, 32, 52... Concave surface portion 33... 4, 6 ... The other finger 22, 42, 62 ... ... Convex curve 43 ... ... hole

Claims (9)

A finger structure of an artificial hand that moves at least one finger of two fingers and holds an object placed on a plane,
The one finger has a concave curved surface part that scoops up the object at a tip part that comes into contact with the object,
A finger structure of an artificial hand for holding an object, wherein the other finger has a convex curved surface part that presses the object at a tip part that is in contact with the object.   2. The finger structure of an artificial hand for holding an object according to claim 1, wherein the concave curved surface portion of the one finger is formed of an elastic material and becomes a concave curved surface by being elastically deformed by contacting the flat surface.   The finger structure of an artificial hand for holding an object according to claim 1 or 2, wherein a tip of the concave curved surface portion has a knife edge shape.   The finger structure of an artificial hand for holding an object according to any one of claims 1 to 3, wherein the curvature radii of the convex curved surface portion and the concave curved surface portion are substantially equal.   The finger structure of an artificial hand for holding an object according to any one of claims 1 to 4, wherein the convex curved surface portion is formed of a friction material.   The finger structure of an artificial hand for holding an object according to any one of claims 1 to 5, wherein the convex curved surface portion is formed of an elastic material.   The one finger has a hole into which the rotation shaft of the actuator is inserted into the rear end portion, and the other finger has a hole into which another rotation shaft parallel to the rotation axis of the actuator is inserted into the rear end portion. The finger structure of an artificial hand for holding an object according to any one of claims 1 to 6, wherein the finger and the other finger can be moved in the same plane. An artificial hand nipping method for nipping an object placed on a plane by moving at least one of two fingers,
The concave curved surface portion of one finger having a concave curved surface portion at the distal end portion is opposed to the end portion of the object on the plane, and the convex curved surface portion of the other finger having the convex curved surface portion at the distal end portion is An opposing pressing step for pressing the end,
The one finger and / or the other finger are moved in parallel to the plane so that the distance between the one finger and the other finger is narrowed, and the object pressed by the convex curved surface portion of the other finger Scooping up the end with the concave curved surface of the one finger;
A method for holding an artificial hand of an object, comprising: The concave surface portion of the one finger is formed of an elastic material, becomes a concave surface by abutting on the flat surface and elastically deforming,
9. The method for holding an artificial hand of an object according to claim 8, further comprising a curvature radius detection step of detecting a curvature radius of the concave curved surface portion by a curvature radius detection means.

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