| Yokoi Robot Hand I, II, III |
 by Gabriel Gomez, Alejandro Hernandez Arieta, Hiroshi Yokoi, and Peter Eggenberger Hotz Producted by Tsukasa Kiko Engineering The tendon driven robot hand is partly built from elastic, flexible and deformable materials. For example, the tendons are elastic, the fingertips are deformable and between the fingers there is also deformable material.
It has 15 degrees of freedom thatare driven by 13 servomotors, a bending sensor is placed on each fingeras a measure of the position, and a set of standard FSR pressuresensors cover the hand (e.g., on the fingertips, on the back and on thepalm). The robotic hand has 13 degrees of freedom, and each finger hasbeen equipped with different types of sensors (i.e., flex/bend, angle,and pressure). At the Artificial Intelligence Lab, we use the robotichand to investigate the relationship between morphology, intrinsic bodydynamics, generation of information structure through sensorimotorcoordinated activity, and learning. We have implemented biologicallyinspired learning mechanism to allow the robotic hand to explore itsown movement capabilities. Moreover, by correlating the sensory inputas a result of its motor outputs, the robotic hand can learn tomanipulate and grasp objects by itself (Gomez et al., 2005; Gomez etal., 2006).
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