DLR's multisensory articulated hand. I. Hard- and software architecture

The main features of DLR's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- and software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development.