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

@article{Butterfa2001DLRHandIN,
  title={DLR-Hand II: next generation of a dextrous robot hand},
  author={J{\"o}rg Butterfa{\ss} and Markus Grebenstein and Hong Liu and Gerd Hirzinger},
  journal={Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)},
  year={2001},
  volume={1},
  pages={109-114 vol.1}
}
This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the… 
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