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The Hand of the DLR Hand Arm System: Designed for Interaction

Grebenstein, Markus and Chalon, Maxime and Friedl , Werner and Haddadin, Sami and Wimböck, Thomas and Hirzinger, Gerd and Siegwart, Roland (2012) The Hand of the DLR Hand Arm System: Designed for Interaction. The International Journal of Robotics Research, 31 (13), 1531 -1555. SAGE Publications. ISSN 0278-3649

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Abstract

Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsically favors collision. 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/80651/
Document Type:Article
Title:The Hand of the DLR Hand Arm System: Designed for Interaction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Grebenstein, MarkusUNSPECIFIEDUNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIED
Friedl , WernerUNSPECIFIEDUNSPECIFIED
Haddadin, SamiUNSPECIFIEDUNSPECIFIED
Wimböck, ThomasUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Siegwart, RolandUNSPECIFIEDUNSPECIFIED
Date:2012
Journal or Publication Title:The International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:31
Page Range:1531 -1555
Publisher:SAGE Publications
ISSN:0278-3649
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 15:57
Last Modified:06 Sep 2019 15:30

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