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This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.
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J. Butterfaß
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
Markus Grebenstein
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
Haoliang Liu
Harbin University of Science and Technology
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
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Butterfaß et al. (Wed,) studied this question.
synapsesocial.com/papers/6a0c05652c6b870f7ce86c26 — DOI: https://doi.org/10.1109/robot.2001.932538