Hand II

DLR Hand II is a reliable, flexible and powerful multisensory hand – on Rollin' Justin – combined with the lightweight arms it is an excellent platform for two hand manipulation.

Technical data

System description

The DLR Hand II is an anthropomorphic dexterous grasping and manipulation system. The hand consists of four identical fingers with four joints and three degrees of freedom each. An additional degree of freedom in the palm allows the hand to adjust perfectly for either stable grasping or fine manipulation. Complete integration of the actuation system, the sensors and the communication electronics in the hand leads to maximum flexibility and allows easy interfacing to different robots. Numerous sensors allow the precise control of the hand parallel to a very sensitive feed-back of forces and finger positions. This is the prerequisite for dexterous telemanipulation. Similar to a human acting with her hands, very different a priori unknown objects have to be grasped and manipulated and various tasks have to be accomplished in an unknown environment. Examples are opening and closing doors and drawers, operating devices, and using tools. The human hand is the template for the design of the anthropomorphic DLR robot hand which is a universal dexterous grasping and manipulation tool for service robotics. Main use chase for the DLR Hand II is two handed manipulation at the humanoid Rollin' Justin. There concepts for hand arm coordination are evaluated. Also Dynamic grasp acquisition and manipulation is a research field. For further robobs hand reducing the complexitiy is a important goal to bring the Robot in household. On Hand II differnt rudimants are explored.

Dr.-Ing. Jörg Butterfass German Aerospace Center Institute of Robotics and Mechatronics, Mechatronic Systems Oberpfaffenhofen-Weßling Tel.: +49 8153 28-1491 Fax: +49 8153 28-1134