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DLR Multi-fingered Hands

Grebenstein, Markus and Chalon, Maxime and Roa, Maximo A. and Borst, Christoph (2018) DLR Multi-fingered Hands. In: Humanoid Robotics: A Reference LIVE. Springer Netherlands, Dordrecht. pp. 1-41.

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Official URL: https://doi.org/10.1007/978-94-007-7194-9_85-1


This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sensors used in different hands, including DLR Hand I and DLR Hand II, Spacehand and Awiwi Hand, discussing also the lessons learned during the development process and the usage of the hands. A more in-depth description of the most recent DLR development, the Awiwi Hand, is provided to illustrate in detail the challenges of the design of robotic hands, including the consideration of functional aspects that guarantee achieving the required performance in these end effectors.

Item URL in elib:https://elib.dlr.de/119008/
Document Type:Book Section
Title:DLR Multi-fingered Hands
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Grebenstein, MarkusDLR RM-MShttps://orcid.org/0000-0002-4026-3716
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Date:February 2018
Journal or Publication Title:Humanoid Robotics: A Reference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/978-94-007-7194-9_85-1
Page Range:pp. 1-41
Goswami, AmbarishUNSPECIFIED
Vadakkepat, PrahladUNSPECIFIED
Publisher:Springer Netherlands
Series Name:LIVE
Keywords:Robotic hands Awiwi hand Hand design Hand kinematics End effector
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 Mehrfingrige Roboterhände
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Grebenstein, Dr. sc. Markus
Deposited On:19 Feb 2018 16:37
Last Modified:19 Feb 2018 16:37

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