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.

No abstract

No abstract

No abstract

No abstract