  Human can not only support their body during standing or walking, but also
support them by hand, so that they can dangle a bar and others. But most
humanoid robots support their body only in the foot and they use their hand
just to manipulate objects because their hands are too weak to support their
body. Strong hands are supposed to enable humanoid robots to act in much
broader scene. Therefore, we developed new life-size five-fingered hand that
can support the body of life-size humanoid robot. It is tendon-driven and
underactuated hand and actuators in forearms produce large gripping force. This
hand has flexible joints using machined springs, which can be designed
integrally with the attachment. Thus, it has both structural strength and
impact resistance in spite of small size. As other characteristics, this hand
has force sensors to measure external force and the fingers can be flexed along
objects though the number of actuators to flex fingers is less than that of
fingers. We installed the developed hand on musculoskeletal humanoid "Kengoro"
and achieved two self-weight supporting motions: push-up motion and dangling
motion.
