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Antagonism for a Highly Anthropomorphic Hand–Arm System

Grebenstein, Markus and Smagt van der, Patrick (2007) Antagonism for a Highly Anthropomorphic Hand–Arm System. Advanced Robotics (22), pp. 39-55. VSP. DOI: 10.1163/156855308X291836. ISSN 0169-1864. (In Press)

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Abstract

A novel approach to antagonism in robotic systems is introduced and investigated as the basis for an unequalled, highly anthropomorphic hand–arm system currently being developed. This hand–arm system, consisting of a 19-d.o.f. hand and a 7-d.o.f. flexible arm, will be based on antagonistic principles in order to study and mimic the human musculoskeletal system, as well as to advance safety in robotics.

Document Type:Article
Title:Antagonism for a Highly Anthropomorphic Hand–Arm System
Authors:
AuthorsInstitution or Email of Authors
Grebenstein, MarkusUNSPECIFIED
Smagt van der, PatrickUNSPECIFIED
Date:2007
Journal or Publication Title:Advanced Robotics
Refereed publication:Yes
In ISI Web of Science:Yes
DOI:10.1163/156855308X291836
Page Range:pp. 39-55
Publisher:VSP
ISSN:0169-1864
Status:In Press
Keywords:Hand, antagonism, anthropomorphic, muscle, arm
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr. sc. Markus Grebenstein
Deposited On:24 Oct 2008
Last Modified:14 Jan 2010 23:11

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