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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: |
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| 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 | ||||||
| HGF - Program: | Space | ||||||
| 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: | Markus Grebenstein | ||||||
| Deposited On: | 24 Oct 2008 | ||||||
| Last Modified: | 14 Jan 2010 23:11 |
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