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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)
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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/ | |||||||||
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| Document Type: | Article | |||||||||
| Title: | Antagonism for a Highly Anthropomorphic Hand–Arm System | |||||||||
| Authors: |
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| Date: | 2007 | |||||||||
| Journal or Publication Title: | Advanced Robotics | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| 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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