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DLR Multi-fingered Hands

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Humanoid Robotics: A Reference

Abstract

This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sensors used in different hands, including DLR Hand I and DLR Hand II, Spacehand and Awiwi Hand, discussing also the lessons learned during the development process and the usage of the hands. A more in-depth description of the most recent DLR development, the Awiwi Hand, is provided to illustrate in detail the challenges of the design of robotic hands, including the consideration of functional aspects that guarantee achieving the required performance in these end effectors.

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Abbreviations

DIP:

Distal interphalangeal joint

DLR:

German Aerospace Center

DoF:

Degree of freedom

DSP:

Digital signal processor

FPGA:

Field programmable gate array

FSR:

Force-sensitive resistor

GEO:

Geostationary earth orbit

HMC:

Hamatometacarpal joint

IP:

Interphalangeal joint

JPL:

Jet Propulsion Laboratory

LEO:

Lower earth orbit

MC:

Metacarpophalangeal joint

MP:

Metacarpophalangeal joint of the thumb

PHRI:

Physical human robot interaction

PIP:

Proximal interphalangeal joint

PSD:

(Optical) Position sensitive device

PU:

Polyurethane

TCP:

Tool center point

TMC:

Trapezometacarpal joint

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Author information

Authors and Affiliations

  1. Department of Mechatronic Components and Systems, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany

    Markus Grebenstein

  2. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany

    Maxime Chalon, Máximo A. Roa & Christoph Borst

Authors
  1. Markus Grebenstein
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  2. Maxime Chalon
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  3. Máximo A. Roa
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  4. Christoph Borst
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Corresponding author

Correspondence to Markus Grebenstein .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Grebenstein, M., Chalon, M., Roa, M.A., Borst, C. (2019). DLR Multi-fingered Hands. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_85

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