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WHISG - A wearable hand to investigate passive stiffness in grasping

Friedl, Werner and Höppner, Hannes and Roa Garzon, Máximo Alejandro and Grebenstein, Markus (2016) WHISG - A wearable hand to investigate passive stiffness in grasping. ICRA 2016 --- Workshop "Exploiting contact and dynamics in manipulation", 16.-21.Mai 2016, Stockholm, Schweden.

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Abstract

Wearable robotic hands allow the partial recovery of hand functionality in amputees, and also allow users to investigate the capabilities of the hands. In fact, the human can use his intuition to locate the hand in an optimal position in order to reliably grasp any object. The influence of variable passive stiffness on grasping is rarely explored in the design of hands, since the DLR Awiwi is the only existing hand that provides variable stiffness actuation. However, this hand is not portable due to its weight, and consumes too much energy to be driven by battery only. This work introduces the WHISG hand, a three-finger hand that uses the same variable stiffness concept as the Awiwi hand, combined with low cost servo actuators and rapid prototyping parts, leading to a light, cheap, and robust platform for grasping experimentation. The user can place the portable hand in a convenient position with respect to the object, and can choose the grip stiffness using an adjustment wheel. A trigger is used to initiate the grasp, and fingers are closed while allowing their adaptation to the object shape. Then, the hand sets the chosen stiffness for a reliable grasp.

Item URL in elib:https://elib.dlr.de/118946/
Document Type:Conference or Workshop Item (Poster)
Title:WHISG - A wearable hand to investigate passive stiffness in grasping
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Friedl, WernerWerner.Friedl (at) dlr.deUNSPECIFIED
Höppner, Hanneshannes.hoeppner (at) dlr.dehttps://orcid.org/0000-0003-3184-7653
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Date:16 May 2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Soft Robotic Hand, Variable Stiffness Robotics
Event Title:ICRA 2016 --- Workshop "Exploiting contact and dynamics in manipulation"
Event Location:Stockholm, Schweden
Event Type:Workshop
Event Dates:16.-21.Mai 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Höppner, Hannes
Deposited On:14 Feb 2018 12:46
Last Modified:31 Jul 2019 20:16

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