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The hand of the DLR Hand Arm System: Designed for interaction

Grebenstein, M. and Chalon, M. and Friedl, W. and Haddadin, S. and Wimbock, T. and Hirzinger, G. and Siegwart, R. (2012) The hand of the DLR Hand Arm System: Designed for interaction. The International Journal of Robotics Research, 31 (13), p. 1531. DOI: 10.1177/0278364912459209

Full text not available from this repository.

Official URL: http://dx.doi.org/10.1177/0278364912459209

Abstract

Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsically favors colli- sion. The robustness of the most exposed parts, such as the hands, is crucial for effective and complete task execution of a robot. Considering the scales, we think that the robustness can only be achieved by the use of energy storage mechanisms, e.g. in elastic elements. The use of variable stiffness drives provides a low-pass filtering of impacts and allows stiffness adjustments depending on the task. However, using these drive principles does not guarantee the safety of the human due to the dramatically increased dynamics of such system. The design methodology of an antagonistically tendon-driven hand is explained. The resulting hand, very close to its human archetype in terms of size, weight, and, in particular, grasping performance, robustness, and dynamics, is presented. The hyper-actuated hand is a research platform that will also be used to investigate the importance of mechanical couplings and, in future projects, be the basis of a simplified hand that would still perform daily manipulation tasks.

Item URL in elib:https://elib.dlr.de/79474/
Document Type:Article
Title:The hand of the DLR Hand Arm System: Designed for interaction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Grebenstein, M.UNSPECIFIEDUNSPECIFIED
Chalon, M.UNSPECIFIEDUNSPECIFIED
Friedl, W.UNSPECIFIEDUNSPECIFIED
Haddadin, S.UNSPECIFIEDUNSPECIFIED
Wimbock, T.UNSPECIFIEDUNSPECIFIED
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Siegwart, R.UNSPECIFIEDUNSPECIFIED
Date:2012
Journal or Publication Title:The International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:31
DOI :10.1177/0278364912459209
Page Range:p. 1531
Status:Published
Keywords:Humanoid hand, anthropomorphic hand, design, control, variable stiffness, antagonism, pHRI
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 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Grebenstein, Dr. sc. Markus
Deposited On:15 Jan 2013 16:04
Last Modified:13 Jul 2016 17:28

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