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A Method for Hand Kinematics Designers 7 Billion Perfect Hands

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 Bionics and Biomechanics ICABB-2010, 14.-16.10.2010, Venedig, Italien.

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Kurzfassung

In the past decade the design of kinematic models for hands has been addressed using several different approaches such as numerical optimization or direct measurement of human hands. However, once the mechanical and structural design constraints are included, no existing kinematic model of the hand fits the needs of the DLR Hand Arm System. The diversity of human hands reveals that the functional aspects are more important than the kinematics itself. In order to develop a suitable model for the hand arm system a more empirical method was developed. Based on an basic hand skeleton, that incorporates the structural constraints, incremental variations are performed to improve the parameters to fit the functional needs of the hand. The tests are derived from a set of common grasps as well as some tests performed by surgeons. To be able to rapidly appreciate the results simple cardboard prototypes are constructed. The resulting kinematics revealed to be a promising and suitable hand kinematics for the DLR Hand Arm System. The design is realized in hardware.

Dokumentart:Konferenzbeitrag (Vortrag)
Titel:A Method for Hand Kinematics Designers 7 Billion Perfect Hands
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID
Grebenstein, MarkusDLR RM-MSNICHT SPEZIFIZIERT
Chalon, MaximeDLR RM-MSNICHT SPEZIFIZIERT
Hirzinger, GerdDLR RMNICHT SPEZIFIZIERT
Siegwart, RolandETHZ ASLNICHT SPEZIFIZIERT
Datum:Oktober 2010
In Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:kinematics, anthropomorphic hand, bionic, robot hand, DLR Hand Arm System
Veranstaltungstitel:1st International Conference on Applied Bionics and Biomechanics ICABB-2010
Veranstaltungsort:Venedig, Italien
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:14.-16.10.2010
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Vorhaben DLR-4-Finger-Hand III (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Grebenstein, Dr. sc. Markus
Hinterlegt am:11 Jan 2011 10:00
Letzte Änderung:11 Nov 2016 13:49

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