Research and development of human type robot hand "Gifu hand" is carried out in order to realize doing human operation which is complicatedly variously for the vessel.
It has made Gifu hand the form which is approximate for the human hand to not only size but also motor function like geometrically in order to realize grasp and operation of the object by changing human. The index is 5, and joint number and degree of freedom equal to the human finger joint have been established. The pollex ( thumb ) has 4 degrees of freedom 4 joints. It was designed so that the pollex may face as well as the human with other finger so that the operation which is for the vessel may become possible, each other. The pollex has been required from other finger in the dexterity, and all joints would independently move. The force of the fingertip is bigger than other finger, and the torque allocation of the motor also sufficiently considers it. In the meantime, other finger has 3 degrees of freedom of 4 joints. They are similarly separate with the human finger from the first, the third joints move, and third joint and fourth joint are almost linked, they move. By orthogonalizing by first joint and second joint of all fingers almost, and orthogonalizing two joint shafts in the palm of the hand side, the motion which was similar to the human finger was enabled. It reaches total 16 degrees of freedom 20 joints, when it puts all together 5 finger.

Tactile Sensor which can measure at 626 can be attached inside the finger and the metacarpus and also of it it is possible for the marketing 6 axis power sensor to install in the fingertip. Little research of the hand to have by adjusting a 6 axis power sensor to the fingertip in this way and distributed tactile sensor to the finger abdomen and the palm occurs.

In order to be possible to attach to the robot arm of the marketing easily, it makes a robot hand a servo motor having-within method.This method has wide variety of use compared with the hand of the type which drives a joint through the wire rope and also it never limits the movement of the arm with the wire. To make a deceleration machine and a communication system amount stiffness, it drives each joint through the small satellite cogwheel deceleration machine and so on.
In the future, Gifu hand assumes that it is used as he standard model of the robot hand about the research about the object grasping and the handy operation.