Anthropomorphic Robot Hand "Gifu-Hand II" and Hand Control System

This paper presents a control system and control characteristics of the GifuHand II, which has been developed by our group as the anthropomorphic robothand. The band width of frequency characteristics of the finger motion are more than 7Hz, which means that the Gifu Hand can move faster than the human hand. Experimental results of the trajectory control and the force control show that the Gifu Hand II has good dynamic properties enough to be used as a platform of the anthropomorphic robot hand.