Dexhand : a Space qualified multi-fingered robotic hand

Wedler, Armin and Chalon, Maxime and Baumann, Andreas and Bertleff, Wieland and Beyer, Alexander and Burger, Robert 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 Didot, Frederic and Hirzinger, Gerd (2011) Dexhand : a Space qualified multi-fingered robotic hand. In: Proceedings. ASTRA, 11th Symposium on Advanced Space Technologies in Robotics and Automation, 12. April – 14. April 2011, Noordwijk, Netherlands.

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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 global overview paper.

Document Type:

Conference or Workshop Item (Speech, Paper)

Title:

Dexhand : a Space qualified multi-fingered robotic hand

Authors:

Authors	Institution or Email of Authors
Wedler, Armin	Armin.Wedler@dlr.de
Chalon, Maxime	maxime.chalon@dlr.de
Baumann, Andreas	Andreas.Baumann@dlr.de
Bertleff, Wieland	Wieland.berleff@dlr.de
Beyer, Alexander	Alexander.Beyer@dlr.de
Burger, Robert	Robert.Burger@dlr.de
Butterfaß, Jörg	Joerg.Butterfass@dlr.de
Grebenstein, Markus	Markus.Grebenstein@dlr.de
Gruber, Robin	Robin.Gruber@dlr.de
Hacker, Franz	Franz.Hacker@dlr.de
Krämer, Erich	Erich.Kraemer@dlr.de
Landzettel, Klaus	Klaus.Landzettel@dlr.de
Maier, Maximillian	Maximillian.Maier@dlr.de
Sedlmayr, Hans-Jürgen	Hans-Juergen.Sedlmayr@dlr.de
Seitz, Nikolaus	Nikolaus.Seitz@dlr.de
Wappler, Fabian
Willberg, Bertram	Bertram.Willberg@dlr.de
Wimboeck, Thomas	Thomas.Wimboeck@dlr.de
Didot, Frederic	ESA
Hirzinger, Gerd	Gerd.Hirzinger@dlr.de

Date:

09 May 2011

Journal or Publication Title:

Proceedings

Refereed publication:

Yes

In ISI Web of Science:

Status:

Published

Keywords:

multi-fingered robotic hand

Event Title:

ASTRA, 11th Symposium on Advanced Space Technologies in Robotics and Automation

Event Location:

Noordwijk, Netherlands

Event Type:

international Conference

Event Dates:

12. April – 14. April 2011

Organizer:

ESA/ESTEC

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 - RMC - Mobilität und Exploration (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics > Robotic Systems

Deposited By:

Gabriele Beinhofer

Deposited On:

20 Mar 2012 08:50

Last Modified:

20 Mar 2012 08:50

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