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FAS A flexible antagonistic spring element for a high performance over actuated hand

Friedl, Werner and Chalon, Maxime and Reinecke, Jens and 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, 1366 -1372. IROS 2011, 25.-30. September 2011, San Francisco.

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Abstract

In robotic hands design tendon driven systems have been considered for years. The main advantage is a small end effector inertia e.g. a light, small hand with high dynamics due to remote actuators. To protect the actuators from impact in unknown environments a compliant mechanism can be used. It absorbs energy during an impact or saves energy to enhance the joint dynamics. In this paper an antagonistic tendon mechanism is presented. It fits 38 times in the DLR Hand Arm System forearm and enables is adapted to the different finger joints and different tendon lengths. A magnetic sensor was developed for the force measurement of the tendons. Finally, the calibration and the robustness are demonstrated through a set of experiments.

Document Type:Conference or Workshop Item (Speech)
Title:FAS A flexible antagonistic spring element for a high performance over actuated hand
Authors:
AuthorsInstitution or Email of Authors
Friedl, Wernerwerner.friedl@dlr.de
Chalon, Maximemaxime.chalon@dlr.de
Reinecke, Jensjens.reinecke@dlr.de
Markus, Grebensteinmarkus.grebenstein@dlr.de
Date:26 September 2011
Journal or Publication Title:Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:1366 -1372
Status:Published
Keywords:Robot Hand, Variable Stiffness Actuator
Event Title:IROS 2011
Event Location:San Francisco
Event Type:international Conference
Event Dates:25.-30. September 2011
Organizer:IEE/RSJ
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: Werner Friedl
Deposited On:15 Dec 2011 16:41
Last Modified:15 Dec 2011 16:41

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