**6. Acknowledgment**

106 The Future of Humanoid Robots – Research and Applications

The result of this experiment is shown by Fig. 14. The red line is the fingertip force. The black line and the blue line is the value of the encoder in MP1. The black line is the compensated data, and the blue line is the raw data. As shown in Fig. 14, the impact force is measured. This has a reason that the DIP and PIP joints of the finger extended to the stopper and the skidding mechanism of the DIP and PIP joints are inactive. Thus, the impact force is

Fig. 14. Transition of fingertip force contacted against rigid object

The angular difference is 1.5 [deg.] between the first tap and the second tap in the compensated data. The angular difference is 0.5[deg.] between the second and the third. After multi-cycle experiments, the angular difference is 2 [deg.] at a maximum by one tap. This compensating method has cumulative difference but is practical. Depending on the desired accuracy of control system, the values of encoders should be reset with a bump

In this paper, it is declared that the multi-fingered universal robot hand is developed. This robot hand is named "Universal Robot Hand." This robot hand has 5 fingers, 20 joints and 16 DOFs. This robot hand is a little bigger than a human hand. Every DOF is driven by the DC motor in the finger. Every joint has Torque Limiter Mechanism. This mechanism is the

against the stopper. The results show that this compensating method is effective.

**4.2.2 Experimental results** 

not alleviated.

**5. Conclusions** 

This work was supported by the robot study group in the Advanced Materials Processing Institute Kinki Japan. The following researchers participate this study group: Hiroyuki Nakamoto (Hyogo Prefectural Institute of Technology), Tadashi Maeda (Maeda Precision Manufacturing Limited Kobe), Nobuaki Imamura (Hiroshima International University), Kazuhiro Sasabe (The Kansai Electric Power Co., Inc.), Hidenori Shirasawa (The Advanced Materials Processing Institute Kinki Japan).
