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… 
View on IEEE
pdf.aminer.org
826 Citations
Highly Influential Citations
20
Background Citations
283
Methods Citations
145
Results Citations
5

826 Citations

Citation Type

Citation Type

Multisensory HIT/DLR dexterous robot hand
  • Li Jiang, M. Jin, G. Hirzinger
  • Engineering
    Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)
  • 2003
This paper describes the current work progress of HIT/DLR dexterous hand. Based on the technology of DLR hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand with…
The HIT/DLR dexterous hand: work in progress
  • X. H. Gao, M. Jin, G. Hirzinger
  • Computer Science
    2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
  • 2003
TLDR
This paper presents the current work progress of HIT/DLR Dexterous Hand, a smaller and easier manufactured robot hand jointly developed by HIT and DLR based on the technology of DLR Hand II.
DLR Multi-fingered Hands
TLDR
A more in-depth description of the most recent DLR development, the Awiwi Hand, is provided to illustrate in detail the challenges of the design of robotic hands, including the consideration of functional aspects that guarantee achieving the required performance in these end effectors.
A new Generation of Light-Weight Robot Arms and Multifingered Hands
TLDR
The keynote lecture describes recent design and development efforts in DLR’s robotics lab towards a new generation of ultra-light weight robots with articulated hands, with space robotics becoming a major driver due to the need for advanced “robonaut” technologies.
Development of dexterous robot hand for delicate object grasping
TLDR
The goal is to develop the 13 DOF dexterous robot hand, which is the type of motor driven and includes a fingertip tactile sensor, a joint torque sensor, fingertip 6-axis-force-torque sensor and an embedded board.
Integrated Mechatronic Design for a New Generation of Robotic Hands
TLDR
The integrated design of the hand finger and the sensors is reported and the motivations leading to this particular implementation are thoroughly addressed, taking into account both the mechanical constraints and the control requirements.
A dexterous humanoid five-fingered robotic hand
  • Hong Liu, Ke Wu, Zhaopeng Chen
  • Medicine
    RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication
  • 2008
TLDR
This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II, which integrates position, force/torque and temperature sensors and can communicate with external with PPSeCo , CAN and Internet.
DLR hand II: hard- and software architecture for information processing
TLDR
The basic ideas behind DLR hand II's hard- and software architecture adapted to new needs in data processing are presented.
Development of Dual-Arm Robot with Multi-Fingered Hands
  • H. Nakai, M. Yamataka, H. Ohtsuka
  • Computer Science
    ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication
  • 2006
TLDR
The development of a dual-arm robot with multi-fingered hands is described and experimental results show the performance of the robot to manipulate tools of various shapes.
RAMA-1 highly dexterous 48DOF robotic hand using magnetic spherical joints
TLDR
This paper presents the design of a highly dexterous 48 dof robotic hand, believed to be the robotic hand with the highest degree of freedom till date.
...
...

References

SHOWING 1-10 OF 19 REFERENCES
DLR's Multisensory Articulated Hand
TLDR
DLR’s new 4-finger hand characterized by the fact that all 12 active joints are integrated into the fingers or the palm is outlined, which seems to be one of the first real electromechanical alternatives to hydraulic or pneumatic actuators.
The Robonaut hand: a dexterous robot hand for space
  • C. Lovchik, M. Diftler
  • Engineering
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A highly anthropomorphic human scale robot hand designed for space based operations is presented and it approximates very well the kinematics and required strength of an astronaut's hand when operating through a pressurized space suit glove.
A new control strategy for DLR's multisensory articulated hand
Concerns a multisensory 12-DOF 4-finger hand in which all actuators are integrated in the palm or the fingers. It was necessary to use a specially designed miniaturized linear actuator. For…
The UTAH/M.I.T. Dextrous Hand: Work in Progress
The Center for Biomedical Design at the University of Utah and the Artificial Intelligence Laboratory at the Massachu setts Institute of Technology are developing a tendon-oper ated…
Articulated Hands
TLDR
Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Impedance Control: An Approach to Manipulation: Part II—Implementation
This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. In…
Mechanical bandwidth as a guideline to high-performance manipulator design
TLDR
Mechanical design strategies are introduced to improve performance, including placing a distinct speed reducer at the joint rather than at the motor shaft, limiting the transmission ratio and properly selecting the contact compliance.
Foundations of robotics : analysis and control
TLDR
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators, and explains the physical meaning of the concepts and equations used, and provides the necessary background in kinetics, linear algebra, and Control theory.
Impedance Control: An Approach to Manipulation
  • N. Hogan
  • Engineering, Psychology
    1984 American Control Conference
  • 1984
Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that…
Impedance Control: An Approach to Manipulation: Part I—Theory
TLDR
It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
...
...