Multisensory five-finger dexterous hand: The DLR/HIT Hand II

Abstract

This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs, the whole finger's size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distal's transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo , CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5Kg and the fingertip force can reach 10N.

Continuous robot control using surface electromyography of atrophic muscles

“…The work presented here serves as a groundwork to this goal. To validate the feasibility of the approach, we tested the EMGcontrol interface on a full dynamics simulation of the DLR Light-Weight Robot III (LWRIII) [20], [21] in combination with the DLR 5-finger robotic hand [22]. Combined with its soft-robotics control schemes, the LWR [23], [24] has shown its applicability to safe human robot interaction [25] and as an assistive robotic device in multiple scenarios [6].…”

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

“…We validated the proposed approach on a modular threefingered 9 DoFs robotic hand and on a DLR-HIT II Hand model with five fingers and 15 DoFs [24]. We compared our results with the joint to joint mapping and the fingertipmapping methods [10], [11].…”

Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm

“…1 Since then, a number of multifingered robotic hands have been designed and developed all over the world. They include, to name but a few, the prosthetic hand-based Belgrade/University of Southern California (USC) hand 2 which incorporated a thumb and two more coupled pairs of fingers that adapted to the shape of the grasped object and so the whole hand needed only four motors while it had five digits; the highly integrated Deutsches Zentrum für Luft-und Raumfahrt (DLR)-Hand 3 incorporating purpose built linear actuators, position sensors both for the motors and joints, tactile sensors on each finger link, stereo camera on the palm and two axis torque sensors at the finger tips; the Robonaut hand 4,5 designed to be similar in size and capability to an astronaut's hand in a suit as well as withstand the environment of space; the tendon-driven Shadow Robot Hand 6 with a one-Degrees Of Freedom (DOF) articulated palm and a structure closely resembling the human hand with the option to either use electric motors or pneumatic artificial muscles; the self-contained three-fingered Barrett hand 7 with one finger fixed on the palm and two fingers able to rotate around the palm; the low-cost easy-to-use Laboratory of Robotics and Mechatronics in Cassino (LARM) hand 8,9 with three one-DOF fingers having each finger's joints coupled by four-bar linkages designed to mimic a human performing a cylindrical grasp; the UB hand 10,11 which has explored many novel control and actuation concepts including a twisted string actuator where by twisting two strings a rotary motion is converted to a linear one; the DLR/Harbin Institute of Technology (HIT) II hand 12 which consists of a palm module and finger modules with actuators and control system integrated in each module, and the Sungkyunkwan University (SKKU) hand 13 which also uses identical finger modules each with its own integrated control system an motors as well as six-DOF force-torque sensors at the fingertips. All these hands, anthropomorphic or non-anthropomorphic, are capable of performing certain degree of dexterous motions.…”