Sensors of a single finger
Actuators
Brushless DC motor with Harmonic-Drive and tooth belt gear
Degrees of Freedom
Mechanics
Motion ranges
Link lengths
Forces/Torques
active force perpendicular to the stretched fingertip: 30 N
Speed
approximately 360°/s for each joint
Weight
a single finger: 375 g the complete hand: 1800 g
Electronics
Control computer
Two-CPU PowerPC VME bus system