Design of Dexterous Arm-Hand for Human-Assisted Manipulation

  • L. Wang
  • M. Xie
  • Z. W. Zhong
  • H. J. Yang
  • J. Li
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5315)

Abstract

Arm-hand subsystem, as the manipulator and end-effecter of a humanoid robot, is important from application point of view since humanoid robot is expected to help people in the future. A powerful arm-hand system can perform as many tasks as human beings do. However, owe to limited space and weight, humanoid robots were usually equipped with simple-structured upper limbs, especially for hand. In this paper, a multi-DOF and dexterous arm-hand module is presented, which owns lightweight and compact structure with incremental encoder, absolute encoder in each joint as well as force/torque sensor to feedback the force information. Moreover, the arm-hand module adopts distributed control system for joint actuators, which is compact and easy to be installed inside.

Keywords

Humanoid Robot Arm-hand System Distributed Control System 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • L. Wang
    • 1
  • M. Xie
    • 1
  • Z. W. Zhong
    • 1
  • H. J. Yang
    • 1
  • J. Li
    • 1
  1. 1.School of Mechanical & Aerospace EngineeringNanyang Technological UniversitySingapore

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