This paper newly proposes the four-fingered robot hand with dual turning mechanism where
two and two other fingers can independently rotate inner and outer circles with the common
center, respectively. Due to this mechanical configuration, it has the particular rotating axis
where the manipulation around the axis can be completely decomposed into the velocity
control around the axis and the internal force control in the contact plane. We achieved a
manipulation task around the axis with the time of 0.8 [sec] for one rotation, while it is …

This paper newly proposes the four-fingered robot hand with dual turning mechanism where
two and two other fingers can independently rotate inner and outer circles with the common
center, respectively. Due to this mechanical configuration, it has the particular rotating axis
where the manipulation around the axis can be completely decomposed into the velocity
control around the axis and the internal force control in the contact plane. We achieved a
manipulation task around the axis with the time of 0.8 [sec] for one rotation, while it is …