NDLI: Multisensory five-finger dexterous hand: The DLR/HIT Hand II

Content Provider	IEEE Xplore Digital Library
Author	Liu, H. Wu, K. Meusel, P. Seitz, N. Hirzinger, G. Jin, M.H. Liu, Y.W. Fan, S.W. Lan, T. Chen, Z.P.
Copyright Year	2008
Description	Author affiliation: Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling (Liu, H.; Wu, K.; Meusel, P.; Seitz, N.; Hirzinger, G.)
Abstract	This paper presents a new developed multisensory five-fingered dexterous robot hand: the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs, the whole fingerpsilas size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distalpsilas transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo, CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5Kg and the fingertip force can reach 10N.
Starting Page	3692
Ending Page	3697
File Size	1973927
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Field programmable gate arrays Joints Sensors Digital signal processing Torque Gears
Content Type	Text
Resource Type	Article

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