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Institute of Robotics and Mechatronics
Linear Drive Cylinder
Miniature Force - Torque Sensor
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Cardiovascular failure is the most frequent death cause in Germany. In Bavaria, about 60.000 persons die annually on the cause of cardiovascular diseases, this corresponds to approx. 50% of all deaths. A possibility of treatment is the implantation of ventricular assist devices. Those " Artificial hearts " should not be, in this connection, an entire substitute with the natural organ.
Numerous simple command tasks in telerobotics and telepresence can be accomplished with human machine interfaces with a maximum of two or three degrees of freedom (DoF). For this kind of applications the joystick represents a very intuitive way to command a teleoperator or an object within a virtual environment in two DoF.
Miniature Force-Torque Sensor
The miniature six-component force/torque sensor with full digital output has been developed for the fingertip of the new generation dexterous robot hand DLR Hand-II.
The well-known SpaceMouse was developed out of a space application from the DLR in the 1990s. Here you can read our first steps in the development of this unique control device.
The mechatronic goals
Our approach in designing a new generation of multisensory light-weight robots is an integral one. To be more specific: the new sensor and actuator generations developed in the last years do not only show up a high degree of electronic and processor integration, but also a fully modular hard- and software structure. Analog conditioning, power supply and digital preprocessing are typical subsystem modules of this kind.
Light-weight actuator and drive systems
Both the DLR-gripper and the joint drives of our light-weight robot make use of the same motor concept based on our own redesign of commercially available two-phase stepping motors of the ESCAP type. These motors were basically attractive for our light-weight goals because they show up
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