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Hand of Hand Arm System

This is an obsolete page, Please go to the new page of David's hand.

In contrast to our other robot hands, this hand has no sensors and actors in the hand. The actors and sensors are located in the forearm of the handarmsystem. This allows building a hand with the size and dexterity of a human. Every joints is actuated human like by two motors. The hand can control its position and its passive joint stiffness simulatneously with an nonlinear spring mechanism coupled to the tendons. The decoupling from the gear and output makes it very robust against hits and allows the system to run stable with low controller frequencies. The system is used to compare different tendon couplings and degree of freedoms. Furthermore dynamic grasping combined variable stiffness is explored.

Mechanical overview

• Embedded structuralwater cooling
• Embedded structural electronic feed-in layer
• 20 N active Fingertip force with steel tendons, 40 N with Dyneema
• 20 dof
• approximately 720°/s active for each joint, passive 20000°/s while snipping
• Weight 4,5 kg with wrist

Electrical overview

• 44 intelligent motor modules with integrated 180W power inverters
• 2 FPGA based control units
• 12 V & 5 V power supplies and distribution
• Spring deflection sensors

Hardware publications

• Friedl, Werner und Chalon, Maxime und Reinecke, Jens und Markus, Grebenstein (2011) FAS A flexible antagonistic spring element for a high performance over actuated hand. In: Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf, . IROS 2011, 25.-30. September 2011, San Francisco
• Chalon, Maxime und Grebenstein, Markus und Wimboeck, Thomas und Hirzinger, Gerd (2010) The thumb: Guidelines for a robotic design. International Conference on Intelligent Robots and Systems (IROS 2010) , 18-22 Oct 2010, Tapei
• Grebenstein, Markus und Chalon, Maxime und Hirzinger, Gerd und Siegwart, Roland (2010) A Method for Hand Kinematics Designers 7 Billion Perfect Hands. 1st International Conference on Applied