Design of a force sensing hand for the R1 humanoid robot

This paper outlines the design of the hand of the R1 humanoid robot. The hand uses a completely plastic structure with embedded electronics. It has 2 actuated degrees of freedom (DOF) with 4 phalanges, coupling two phalanges to each degree of actuation. A novel series elastic module was developed within the hand. It is used in force sensing and protects the… CONTINUE READING