| this paper outlines the 2nd generation of multisensory hand design at DLR. The results of the use of DLR's Hand I were analyzed and enabled -in addition to the big e orts made in grasping technology -to design the next generation of dextrous robot hands. An open skeleton structure for better maintenance with semi shell housings and the new automatically recon gurable palm have been equipped with more powerful actuators to reach 30N on the ngertip. Newly designed sensors as the 6 DOF ngertip force torque sensor and integrated electronics together with the new communication architecture which enables a reduction of the cabling to the hand to only 12 lines outline the electronics concept. The Cartesian impedance c ontrol of all the ngers completes the new hand with its 13 DOF to what it is: the next step to autonomous and humanoid grasping

The main features of DLR's dextrous robot hand a s a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured sewicing environments requires dexlrous manipulation abilities und facilities to perform complex remote operations in a very jlexible way. Therefore we have developed a multisensory articulated four jifinger hand, where all actuators are integrated in ehe hand's palm or the fingers directly. I t is an integrated part of a complex light-weight manipulation system aiming a1 the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard-and sof?wure architecture is outlined with particular emphasis on flexibility and performunce issues. The hand is typically controlled through a data glove for telemanipulation and skil'l-transfer purposes. Autonomous grasping and manipula lion capabilities are currently under development.

In this paper we briefly address DLR's (German Aerospace Center) background in space robotics by hand of corresponding milestone projects including systems on the International Space Station. We then discuss the key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-lightweight arms and multifingered hands. The third arm generation is nearly finished now, approaching the limits of what is technologically achievable today with respect to light weight and power losses. In a similar way DLR's second generation of artificial four-fingered hands was a big step towards higher reliability, manipulability and overall performance.

Abstract-Walking is a fascinating way of locomotion that is very robust, especially in unstructured terrain. Many researchers devote their time to understanding its underlying principles and to build robots based on their findings. Using the fingers of DLR-Hand II a six-legged actively compliant walking robot is developed. It is intended to be used as testbed for the evaluation of different force-and position-based leg and gait control algorithms for hexapod walking in rough terrain. Following a brief overview of the finger hardware, the use of fingers as legs is analyzed and discussed. The body geometry as well as the systems constituting the robot are described. The compliance control algorithm used is explained and finally some experimental results are presented.

This paper presents the current work progress of HIT/DLR Dexterous Hand. Eased on the technology of DLR Hand 11, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. Thefinger has three DOF andfourjoints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 6 lines(4 lines power supply and 2 lines communication interface). The fingertip force can reach ION.