DLR-Hand II: next generation of a dextrous robot hand

Abstract

| 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

UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

“…It had four fingers actuated by tendon drive and DC motors. The DLR-Hand also used dc motors with transmission tooth belt and harmonic drive gears [12]. Compact fluidic hand had been developed and reported with fourteen DOF [13].…”

A Microcontroller Based Four Fingered Robotic Hand

“…Dial cords with small diameter plastic tubes as sleeves are used for the tendons of the digit since these are flexible. The Graspar robotic hand differs from many other hands [19,20,21] in that the joints of each finger are independently controlled for motion. Since the joint axes of each digit are parallel, the motion of each finger lies on a plane.…”

The initial design and manufacturing process of a low cost hand for the robot iCub

“…On an adult scale there are numerous examples of fully actuated anthropomorphic robotic hands. These include~but are not limited to, the Utah/MIT hand [4], Anthrobot Hand [5], Robonaut Hand [6], DLR-Hands [7], Remedi-Hand [8] and Ultralight hand [9].…”

“…Butterfass et al [17] used specially designed conductive plastic potentiometers located at each finger joint. An alternative approach used by Chua et al [16] used linear potentiometers located at the wrist to measure the motion of tendons, from \vhich joint angles could be calculated.…”