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Dexhand : a Space qualified multi-fingered robotic hand

Chalon, Maxime and Wedler, Armin and Baumann, Andreas and Bertleff, Wieland and Beyer, Alexander and Butterfaß, Jörg and Grebenstein, Markus and Gruber, Robin and Hacker, Franz and Krämer, Erich and Landzettel, Klaus and Maier, Maximillian and Sedlmayr, Hans-Jürgen and Seitz, Nikolaus and Wappler, Fabian and Willberg, Bertram and Wimboeck, Thomas and Hirzinger, Gerd and Didot, Frederic (2011) Dexhand : a Space qualified multi-fingered robotic hand. In: Proceedings. ICRA, International Conference on Robotics and Automation, 9-13 May 2011, Shanghai, China.

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Abstract

Despite the progress since the first attempts of mankind to explore space, it appears that sending man in space remains challenging. While robotic systems are not yet ready to replace human presence, they provide an excellent support for astronauts during maintenance and hazardous tasks. This paper presents the development of a space qualified multi-fingered robotic hand and highlights the most interesting challenges. The design concept, the mechanical structure, the electronics architecture and the control system are presented throughout this overview paper.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Dexhand : a Space qualified multi-fingered robotic hand
Authors:
AuthorsInstitution or Email of Authors
Chalon, Maximemaxime.chalon@dlr.de
Wedler, ArminArmin.Wedler@dlr.de
Baumann, AndreasAndreas.Baumann@dlr.de
Bertleff, WielandWieland.berleff@dlr.de
Beyer, AlexanderAlexander.Beyer@dlr.de
Butterfaß, JörgJoerg.Butterfass@dlr.de
Grebenstein, MarkusMarkus.Grebenstein@dlr.de
Gruber, RobinRobin.Gruber@dlr.de
Hacker, FranzFranz.Hacker@dlr.de
Krämer, ErichErich.Kraemer@dlr.de
Landzettel, KlausKlaus.Landzettel@dlr.de
Maier, MaximillianMaximillian.Maier@dlr.de
Sedlmayr, Hans-JürgenHans-Juergen.Sedlmayr@dlr.de
Seitz, NikolausNikolaus.Seitz@dlr.de
Wappler, FabianUNSPECIFIED
Willberg, BertramBertram.Willberg@dlr.de
Wimboeck, ThomasThomas.Wimboeck@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Didot, FredericESA
Date:9 May 2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:multi-fingered robotic hand
Event Title:ICRA, International Conference on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9-13 May 2011
Organizer:IEEE
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 - RMC - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:23 Jan 2012 10:05
Last Modified:12 Dec 2013 21:35

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