Antagonism for a Highly Anthropomorphic Hand–Arm System

Grebenstein, Markus and Smagt van der, Patrick (2007) Antagonism for a Highly Anthropomorphic Hand–Arm System. Advanced Robotics (22), pp. 39-55. VSP. doi: 10.1163/156855308X291836. ISSN 0169-1864. (In Press)

Full text not available from this repository.

Abstract

A novel approach to antagonism in robotic systems is introduced and investigated as the basis for an unequalled, highly anthropomorphic hand–arm system currently being developed. This hand–arm system, consisting of a 19-d.o.f. hand and a 7-d.o.f. flexible arm, will be based on antagonistic principles in order to study and mimic the human musculoskeletal system, as well as to advance safety in robotics.

Item URL in elib:

https://elib.dlr.de/53421/

Document Type:

Article

Title:

Antagonism for a Highly Anthropomorphic Hand–Arm System

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Grebenstein, Markus	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Smagt van der, Patrick	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED

Date:

2007

Journal or Publication Title:

Advanced Robotics

Refereed publication:

Yes

Open Access:

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Yes

DOI:

10.1163/156855308X291836

Page Range:

pp. 39-55

Publisher:

VSP

ISSN:

0169-1864

Status:

In Press

Keywords:

Hand, antagonism, anthropomorphic, muscle, arm

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 - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (until 2012) > Robotic Systems

Deposited By:

Grebenstein, Dr. sc. Markus

Deposited On:

24 Oct 2008

Last Modified:

14 Jan 2010 23:11

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