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DLR’s multisensory articulated hand

  • Chapter 1 Dexterous Manipulation
  • Conference paper
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Book cover Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

The paper outlines DLR’s new 4-finger hand characterized by the fact that all 12 active joints (3 for each finger) are integrated into the fingers or the palm. With 112 sensors, around 1000 mechanical and around 1500 electrical components the new hand is one of the most complex robot hands ever built. Its key element is the „artificial muscle ®“ a small but powerful linear actuator, which seems to be one of the first real electromechanical alternatives to hydraulic or pneumatic actuators.

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References

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Author information

Authors and Affiliations

  1. DLR (German Aerospace Research Establishment), Institute of Robotics and System Dynamics Oberpfaffenhofen, D-82234, Wessling, Germany

    G. Hirzinger, J. Butterfaß, S. Knoch & H. Liu

Authors
  1. G. Hirzinger
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  2. J. Butterfaß
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  3. S. Knoch
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  4. H. Liu
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Hirzinger, G., Butterfaß, J., Knoch, S., Liu, H. (1998). DLR’s multisensory articulated hand. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112949

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  • DOI: https://doi.org/10.1007/BFb0112949

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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