I am working on a small project of actuator replacement for Hackberry. So I would like to know how strong force is applied by each finger.
Has anyone measured it before? I guess it would be possible to calculate approximated values if I did it from servomotor specs on the list and Hackberry’s linkage, but I wanted just to know if predecessors have already done or not before actually calculating. (I’ve already tried but I found that it looks to take a bit of time)
We’ve not measured the force applied to finger tip. We measured its grip strength. It was about 1[kgf].
As for finger tip,
– moment arm is about 7[cm]
– motor torque is 4.4 [kgf･cm]
Therefore, maybe the force is about 0.6[kgf] (index finger).