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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:
AuthorsInstitution or Email of Authors
Wedler, ArminArmin.Wedler@dlr.de
Chalon, Maximemaxime.chalon@dlr.de
Baumann, AndreasAndreas.Baumann@dlr.de
Bertleff, WielandWieland.berleff@dlr.de
Beyer, AlexanderAlexander.Beyer@dlr.de
Burger, RobertRobert.Burger@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
Didot, FredericESA
Hirzinger, GerdGerd.Hirzinger@dlr.de
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: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 (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:20 Mar 2012 08:50
Last Modified:12 Dec 2013 21:38

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