RoManSy 6 pp 187-197 | Cite as

Smart Hand Systems for Robotics and Teleoperation

  • A. K. Bejczy
  • B. M. Jau


This paper describes two smart hand systems developed at JPL recently for robotics and teleoperator applications. The first unit was designed for potential application on an Orbiting Maneuvering Vehicle (OMV) equipped with an approximately 5 meter size manipulator performing, e.g., satellite servicing and repair tasks. The second unit was designed for experimental use on a human-size industrial robot arm called PUMA 560 to explore issues in versatile object handling and compliance control in grasp actions. The developments followed an integrated design approach by considering mechanism, sensing, electronics, control and displays within an integrated system design architecture. The descriptions in this paper briefly summarize all design aspects of the two smart hand systems.


Industrial Robot Paper Briefly Integrate System Design System Design Architecture RS232 Link 
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  1. [1]
    Mishkin, A.H., and Jan, B.M., Functional Requirements and Proposed Designs for Space—Based Multifunctional End Effector Systems. JPL Report (in printing ), 1986.Google Scholar
  2. [2]
    Bejczy, A.K. and Dotson, R.D., Force—Torque Sensing and Display System for Large Robot Arms, Proceedings of the IEEE Southeastcon ‘82. Destin, FL. April 4–7. 1982.Google Scholar
  3. [3]
    U.S. Patent is pending, CIT File No. 1859.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • A. K. Bejczy
    • 1
  • B. M. Jau
    • 1
  1. 1.Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaUSA

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