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A Method for Hand Kinematics Designers 7 Billion Perfect Hands

Grebenstein, Markus and Chalon, Maxime and Hirzinger, Gerd and 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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Abstract

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.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Method for Hand Kinematics Designers 7 Billion Perfect Hands
Authors:
AuthorsInstitution or Email of Authors
Grebenstein, MarkusDLR RM-MS
Chalon, MaximeDLR RM-MS
Hirzinger, GerdDLR RM
Siegwart, RolandETHZ ASL
Date:October 2010
Status:Published
Keywords:kinematics, anthropomorphic hand, bionic, robot hand, DLR Hand Arm System
Event Title:1st International Conference on Applied Bionics and Biomechanics ICABB-2010
Event Location:Venedig, Italien
Event Type:international Conference
Event Dates:14.-16.10.2010
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 - Vorhaben DLR-4-Finger-Hand III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr. sc. Markus Grebenstein
Deposited On:11 Jan 2011 10:00
Last Modified:11 Jan 2011 10:00

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