Performance and Characterization of Disposable Robot Hand Made with Paper by Ribbon Origami Structure

In the food and other manufacturing industries, where the introduction of robots is expected to be promoted, hygienic and stable grasping technology is essential because of the need to handle goods with diverse characteristics. However, for companies, the high market cost of robot hands that meet the requirements is one of the factors restraining their introduction. In order to solve the problem of hygiene by using disposable robot hand, we devised an inexpensive disposable robot hand made of paper, verified the relationship between materials, structure, and grasping force, and studied the primary modeling of the force transmission mechanism of the robot hand in order to reduce the size and increase the grasping force.