A dexterous humanoid five-fingered robotic hand

H. Liu*, K. Wu, P. Meusel, G. Hirzinger, M. H. Jin, Y. W. Liu, S. W. Fan, T. Lan, Z. P. Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

23 Citations (Scopus)

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 drives and BGA form DSPs and FPGAs, the whole finger's size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distal's 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 ION.

Original languageEnglish
Title of host publicationProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Pages371-376
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN - Munich, Germany
Duration: 1 Aug 20083 Aug 2008

Publication series

NameProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

Conference

Conference17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Country/TerritoryGermany
CityMunich
Period1/08/083/08/08

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