NDLI: The Robonaut 2 hand - designed to do work with tools

Content Provider	IEEE Xplore Digital Library
Author	Bridgwater, L.B. Ihrke, C.A. Diftler, M.A. Abdallah, M.E. Radford, N.A. Rogers, J.M. Yayathi, S. Askew, R.S. Linn, D.M.
Copyright Year	2012
Description	Author affiliation: NASA/JSC, Houston, Texas, USA (Bridgwater, L.B.; Diftler, M.A.; Radford, N.A.; Rogers, J.M.; Yayathi, S.; Askew, R.S.) \|\| General Motors, Warren, Michigan, USA (Ihrke, C.A.; Abdallah, M.E.; Linn, D.M.)
Abstract	The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original. Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand. Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand's improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.
Starting Page	3425
Ending Page	3430
File Size	1452301
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224772
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Couplings Assembly Weaving Wrist Bridges
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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