A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.

• 이상문(고등기술연구원 로봇/생산기술센터 선임연구원) | Sang mun Lee 교신저자
• 이경돈(고등기술연구원 로봇/생산기술센터 센터장) | Kyoung don Lee
• 민흥기(고등기술연구원 로봇/생산기술센터 수석연구원) | Heung ki Min
• 노태성(주) 로보멕 대표이사) | Tae sung Noh
• 김성태(주) 로보멕 대표이사) | Sung tae Kim