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DLR Multi-fingered Hands

  • Markus Grebenstein
  • Maxime Chalon
  • Máximo A. Roa
  • Christoph Borst
Reference work entry

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.

Acronyms

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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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  • Markus Grebenstein
    • 1
  • Maxime Chalon
    • 2
  • Máximo A. Roa
    • 2
  • Christoph Borst
    • 2
  1. 1.Department of Mechatronic Components and SystemsInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)WesslingGermany
  2. 2.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany

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