Peter Meusel

Multisensory five-finger dexterous hand: The DLR/HIT Hand II

This paper presents a new developed multisensory five-fingered dexterous robot hand: the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs, the whole fingerpsilas size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distalpsilas transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo, CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5Kg and the fingertip force can reach 10N.

The Modular Multisensory DLR-HIT-Hand: Hardware and Software Architecture

This paper presents hardware and software architecture of the newly developed compact multisensory German aerospace research (DLR)-Harbin Institute of Technology (HIT)-Hand. The hand has four identical fingers and an extra degree of freedom for the palm. In each finger, there is a field-programmable gate array (FPGA) for data collection, brushless dc motors for control, and communication is accomplished with palms FPGA by point-to-point serial communication (PPSeCo). The kernel of the hardware system is a peripheral component interconnect (PCI)- based high-speed floating-point DSP for data processing, and FPGA for high-speed (up to 25 Mb/s) real-time serial communication with the palms FPGA. In order to achieve high modularity and reliability of the hand, a fully mechatronic integration and analog signals in situ digitalization philosophy is implemented to minimize the dimension and number of the cables (five cables including power supply), and protect data communication from outside disturbances. Furthermore, according to the hardware structure of the hand, a hierarchical software structure has been established to perform all data processing and the control of the hand. It provides basic air position indicator (API) functions and skills to access all hardware resources for data acquisition, computation, and teleoperation. With the nice design of the hands envelop, the hand looks more like a humanoid.

A dexterous humanoid five-fingered robotic hand

This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drives and BGA form DSPs and FPGAs, the whole fingerpsilas size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distalpsilas transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo , CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5 Kg and the fingertip force can reach 10N.

The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism

Based on under-actuated mechanism and coupling principle, a five-fingered, multi-sensory and biomechatronic prosthetic hand has been designed. The multi-DOF hand comprises 13 joints and is controlled by 3 motors. Actuated by only one motor, the thumb can move along a cone surface which is superior in the appearance. Also driven by one motor and transmitted by springs, the mid finger, the ring finger and the little finger can move simultaneously and envelop objects with complex shape. On the other hand, during the hand designation, the handsome appearance has been considered and its glove prototype has been designed. The hardware system and the sensory system have been developed. Through Bluetooth wireless protocol, the hand can be controlled by voice signal. Furthermore, it can also be controlled by electromyography (EMG) signal like most prosthetic hand in existence. It has been verified by experiments that the hand has strong capability of self-adaptation grasp and can accomplish precise and power grasp