Development of a Hand for an Artificial Arm by using An Ultrasonic Motor

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We have developed a new robotic hand by applying the technology of ultrasonic motor. The hand works as well as the human being' s hand in movement such as grasping, picking, and so on. In this research, we have newly designed a small ultrasonic motor which has a light and small driver unit as a driving control and a small gyro compass as an input device. The motor consists of one stator and one rotor. The diameter of the stator is no more than 8.8 mm, which is the smallest one by today' s state of the art. The output torque reaches 300 gem. The rotor is made of plastics, which has the characteristics of good anti abrasion and high coefficient of frictions.We have also investigated a new input device for a robotic hand. The device is a small gyro compass made by MEMS and is possible to sense the inertia force. We have found that our new hand is small and light and has movement similar to that of the human being' s hand.