Anthropomorphic DLR Hand Arm System for Future Service Robotics

As robotic systems and applications become more and more complex, the danger of costly damage to robots increasingly distracts developers from the important work of developing even radically different motion control and planning strategies. Furthermore the dynamic properties of current robotic systems are not sufficient for human tasks such as throwing or running. Typical actuators cannot provide the required power during peak loads without getting too bulky and heavy. Therefore, we are convinced that major steps in space and service robotics are only possible if future robotic systems are:

• Robust against “every-day” impacts
• Able to store energy on short-term

This motivated the design of the DLR Hand Arm System which mimics the kinematic, dynamic and force properties of the human arm using variable passive compliance actuators. This highly integrated mechatronic system consists of 52 drives and more than 112 position sensors.

www.viactors.org
http://www.phriends.eu
http://spectrum.ieee.org/automaton/robotics/humanoids/researchers-smash-super-tough-robot-arm-with-bat

Hand Arm System The requirements of robustness in case of collision and the possibility to store energy momentarily motivated the design of the DLR Hand-Arm-System which mimics the kinematic, dynamic and force properties of the human arm using variable passive compliance actuators. This highly integrated mechatronic system consists of 52 drives and more than 100 sensors. Full article

Control Control of Arm and Hand Full article

Publications List of Publications concerning the Hand Arm System Full article