The articulation device (100) has a rotary part (120), which is arranged, to be rotated by a torque transferred to a retainer (110), where the rotary part is coupled with the retainer. An articulation unit (130) is formed to convert the torque into a rotating motion using a sliding frictional force which is produced at close lying surfaces, which are formed standing in contact at the end of articulated part of the articulation unit. The articulated part is accommodated within the rotary part and another articulated part is accommodated within the retainer. Independent claims are also included for the following: (1) a hand device for robot (2) a device for the supply of a hand of a humanoid robot (3) a method for the supply of a humanoid articulation for a robot system.
Articulation device for use as humanoid articulation in robot system, has articulation unit which is formed to convert torque into rotating motion using sliding frictional force produced at close lying surfaces