DLR - Institute of Robotics and Mechatronics

Dextrous Robot Hands

Our experience in developing, building and using dextrous robot hands reaches back to 1993. Our workscope covers all areas from multisensory mechatronic hand design up to control of the hands including telemanipulation, autonomous grasping and manipulation. The experiences gained with the real system result in new requirements for the next generation design steps.

Following our mechatronic design approach the current generation of dextrous robot hands at our lab - DLR Hand II - is a reliable, flexible and powerful multisensory and fully integrated design with a hot pluggable tool retainer and is rated as one of the most advanced and complex artificial hands in the world.

	DLR Hand II In the future, service robots will need mobility, light-weight yet powerful arms and articulated hands. We are convinced that the DLR Hand II – even better in combination with DLR’s light weight arm developments – is an important contribution to reach these goals.
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	Data sheet of DLR Hand II Sensors, motors, gears, electronics, weight
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	Design/Construction of DLR Hand II Design Philosophy
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	Sensors of DLR Hand II A dexterous robot hand for teleoperation and autonomous operation needs as a minimum a set of force and position sensors. Various other sensors add to this basic scheme.
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	Communication Architecture of DLR Hand II Communication architecture, data collection and signal conditioning, control software architecture, application scheduler.
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	DLR/HIT Hand Based on the DLR Hand II, HIT (Harbin Institute of Technology) and DLR (German Aerospace Center) have jointly developed a multisensory robot hand.
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	Control Several Controllers have been tested on DLR Hand II. Cartesian and joint level impedance controllers have been implemented. Also force control has been tested.
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	Applications Tele-operation, autonomous operation, service robotics in human environments, grasp planning.
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	Previous Versions The DLR Multisensory Hand II has evolved over many years of research. Many hands were developed in these years. These include the DLR Hand I and the DLR Three-Finger Hand.
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