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An ultrasonic motor is a promising actuator for robots since it has simple construction, high response, and high torque at low speed. This paper proposes a robot hand using vibrational ultrasonic motors, instead of moving elements, as fingers.  This robot hand with three fingers can simultaneously grasp and rotate a cylindrical body. The driving characteristics of the robot hand were examined experimentally under various conditions. It was confirmed that high torque was obtained when the optimum contact angle and contact force of the ultrasonic motors were used. The reduction of output torque is small even when the diameter of the rotational body deviates from the design value.

Robot Hand with Fingers Using Vibration-Type Ultrasonic Motors (Driving Characteristics)