The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand  

作　　者：樊绍巍 Liu Yiwei Jin Minghe Lan Tian Liu Hong 

机构地区：[1]State Key laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P.R. China [2]Institute of Robotics and Mechatronic, German Aerospace Center, Wessling DLR 82230, Germany

出　　处：《High Technology Letters》2009年第3期239-244,共6页高技术通讯（英文版）

基　　金：supported by the National High Technology Research and Development Programme of China(2006AA04Z255);the 111 Project(B307018)

摘　　要：This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.This paper presents a new developed anthropomorphic robot dexterous hand:HIT/DLR Hand Ⅱ.The hand is composed of an independent palm and five identical modular fingers,and each finger hasthree degree of freedom(DOFs)and four joints.All the actuators and electronics are integrated in thefinger body and the palm.Owing to using a new actuator,drivers and a novel arrangement,both thelength and width of the finger is about two third of its former version.By using the wire coupling mecha-nism,the distal phalanx transmission ratio is kept exactly 1:1 in the whole movement range.The packingmechanism which is implemented directly in the finger body and palm not only reduces the size of wholehand but also make it more anthropomorphic.Additionally,the new designed force/torque and positionsensors are integrated in the hand for increasing multisensory capability.To evaluate the performances ofthe finger mechanism,the position and impedance control experiments are conducted.

关 键 词：anthropomorphic hand wire coupling mechanism packing mechanism multisensory capability 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]