Real-Time Data Processing of the Sensory Data of a Multi- Fingered Dextrous Robot Hand

  • Alois Knoll
Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 167)


In recent years, multi-fingered dextrous end-effectors for robots have attracted a steadily increasing amount of attention in the robotics community (cf. also Chapter 4.1). Their design is modelled on the physical structure of the human hand thus allowing for a limited imitation of human grasping. The Belgrade-USC artificial hand (see Fig. 1) is the most recent result of research efforts aimed at the development of robot end-effectors, capable of reproducing most of the functionality of the human hand. The development goals for this hand included minimal weight, the ability to handle a large class of grasping tasks, and mechanical dimensions similar to the human model. Rather than stressing maximum flexibility and dexterity, the design emphasizes the use of synergies between the motion of finger joints and fingers. Its versatility in grasping makes this hand suitable for robotic applications such as the handling of toxic or nuclear waste, but it may also be utilized in the field of prosthetics.


Digital Signal Processor Digital Signal Processor Sound Field Ultrasonic Sensor Finger Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    R. Tomovicz, G. Boni, “An Adaptive Artificial Hand”, Trans. IRE, AC-7, 1962Google Scholar
  2. [2]
    G. Bekey, R. Tomovic, I. Zelkovicz, “Control Architecture for the Belgrade-USC Hand”, Dextrous Robots Hands (Eds.: S. Ventakataraman, T. Iberall), Berlin-Heidelberg-New-York, Springer-Verlag, 1989Google Scholar
  3. [3]
    S. Jacobson, E. Iversen, D. Knutti, R. Johnson, K. Biggers, “Design of the Utah/MIT Dextrous Hand” Int. Conf. on Robotics and Autom, 1986Google Scholar
  4. [4]
    Anonimus, “The Force Sensing Resistor: A New Tool in Sensor” Technology”, Interlink Inc., Data Sheet Google Scholar
  5. [5]
    A. Knoll, “Akustische Holographie — Ein Hilfsmittel zur Bestimmung der räumlichen Position von Objekten in der Robotik“ Robotersysteme 4, pp. 193–204, Heidelberg, Springer-Verlag, 1988Google Scholar
  6. [6]
    V. Kruckemeyer, A. Knoll, “Eine imperative Sprache zur Programmierung digitaler Signalprozessoren” Technischer Bericht 90/10 des Fachbereichs Informatik der Technischen Universiät Berlin Google Scholar

Copyright information

© Kluwer Academic Publishers 1992

Authors and Affiliations

  • Alois Knoll
    • 1
  1. 1.TU BerlinBerlin-10

Personalised recommendations