High-speed Grasping of a Card using New Actuator MagLinkage

“MagLinkage” is a new actuator (small size, low friction and high torque). The actuator is consisted of a compact size DD motor (MTL, Inc.), a low-reduction ratio gear box (Shindensha, inc.) and a magnet gear (FEC, inc.). MagLinkage enables 1ms torque control and sensing, and high-backdrivability motion. The impact force can be absorbed by the high-backdrivability motion of MagLinkage. The robot hand equipped with MagLinkage can slide and grasp a thin object on a table. By sliding the object with high speed